Release/v1.5.1 (#86)

Release note:
https://github.com/flexivrobotics/flexiv_rdk/releases/tag/v1.5.1

.github/workflows/cmake.yml

@@ -2,9 +2,9 @@ name: CMake
 
 on:
   push:
-    branches: [main, v1.x]
+    branches: [main, v0.x]
   pull_request:
-    branches: [main, v1.x]
+    branches: [main, v0.x]
   workflow_dispatch:
 
 env:
@@ -13,153 +13,33 @@ env:
 
 jobs:
   build-ubuntu-22:
-    # Use GitHub-hosted Ubuntu 22.04 runner
+    # GitHub-hosted Ubuntu 22.04 runner
     runs-on: ubuntu-22.04
-
+    # Use shared steps
     steps:
-      - uses: actions/checkout@v2
-
-      - name: Build and install dependencies
-        # Build and install all dependencies to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          cd thirdparty
-          bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
-
-      - name: Build and install library
-        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make install
-
-      - name: Build examples
-        # Find and link to the flexiv_rdk INTERFACE library, then build all examples.
-        run: |
-          cd ${{github.workspace}}/example
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make -j$(nproc)
-
-      - name: Build tests
-        # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
-        run: |
-          cd ${{github.workspace}}/test
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make -j$(nproc)
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps
 
   build-ubuntu-20:
-    # Use GitHub-hosted Ubuntu 20.04 runner
+    # GitHub-hosted Ubuntu 20.04 runner
     runs-on: ubuntu-20.04
-
+    # Use shared steps
     steps:
-      - uses: actions/checkout@v2
-
-      - name: Build and install dependencies
-        # Build and install all dependencies to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          cd thirdparty
-          bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
-
-      - name: Build and install library
-        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make install
-
-      - name: Build examples
-        # Find and link to the flexiv_rdk INTERFACE library, then build all examples.
-        run: |
-          cd ${{github.workspace}}/example
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make -j$(nproc)
-
-      - name: Build tests
-        # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
-        run: |
-          cd ${{github.workspace}}/test
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make -j$(nproc)
-
-  build-macos-12:
-    # Use self-hosted macOS 12 runner with arm64 processor
-    runs-on: [self-hosted, macos-12, ARM64]
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps
 
+  build-macos-14:
+    # GitHub-hosted macOS 14 runner with M1 chip
+    runs-on: macos-14
+    # Use shared steps
     steps:
-      - uses: actions/checkout@v2
-
-      - name: Build and install dependencies
-        # Build and install all dependencies to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          cd thirdparty
-          bash build_and_install_dependencies.sh ~/rdk_install $(sysctl -n hw.ncpu)
-
-      - name: Build and install library
-        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make install
-
-      - name: Build examples
-        # Find and link to the flexiv_rdk INTERFACE library, then build all examples.
-        run: |
-          cd ${{github.workspace}}/example
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make -j$(sysctl -n hw.ncpu)
-
-      - name: Build tests
-        # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
-        run: |
-          cd ${{github.workspace}}/test
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          make -j$(sysctl -n hw.ncpu)
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps
 
   build-windows-2022:
-    # Use GitHub-hosted Windows 2022 runner
+    # GitHub-hosted Windows 2022 runner
     runs-on: windows-2022
-
+    # Use shared steps
     steps:
-      - uses: actions/checkout@v2
-
-      - name: Build and install dependencies
-        # Build and install all dependencies to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          cd thirdparty
-          bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
-
-      - name: Build and install library
-        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          mkdir build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          cmake --build . --target install --config Release
-
-      - name: Build examples
-        # Find and link to the flexiv_rdk INTERFACE library, then build all examples.
-        run: |
-          cd ${{github.workspace}}/example
-          mkdir build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          cmake --build . --config Release -j $(nproc)
-
-      - name: Build tests
-        # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
-        run: |
-          cd ${{github.workspace}}/test
-          mkdir build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          cmake --build . --config Release -j $(nproc)
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps

.github/workflows/shared_steps/action.yml

@@ -0,0 +1,41 @@
+name: "Shared Build Steps"
+runs:
+  using: "composite"
+  # Note: working directory will be reset to the repo root for each new step
+  steps:
+    # Build and install all dependencies to RDK installation directory.
+    - name: Build and install dependencies
+      shell: bash
+      run: |
+        pwd
+        cd thirdparty
+        bash build_and_install_dependencies.sh ~/rdk_install 4
+
+    # Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
+    - name: Build and install library
+      shell: bash
+      run: |
+        pwd
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+        cmake --build . --target install --config Release
+
+    # Find and link to flexiv_rdk library, then build all example programs.
+    - name: Build examples
+      shell: bash
+      run: |
+        pwd
+        cd example
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+        cmake --build . --config Release -j 4
+
+    # Find and link to flexiv_rdk library, then build all test programs.
+    - name: Build tests
+      shell: bash
+      run: |
+        pwd
+        cd test
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+        cmake --build . --config Release -j 4

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 1.5.0)
+project(flexiv_rdk VERSION 1.5.1)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
@@ -72,12 +72,6 @@ if(spdlog_FOUND)
   message(STATUS "Found spdlog: ${spdlog_DIR}")
 endif()
 
-# Fast-CDR
-find_package(fastcdr 1.0.24 REQUIRED)
-if(fastcdr_FOUND)
-  message(STATUS "Found fastcdr: ${fastcdr_DIR}")
-endif()
-
 # Fast-DDS (Fast-RTPS)
 find_package(fastrtps 2.6.7 REQUIRED)
 if(fastrtps_FOUND)
@@ -105,7 +99,6 @@ target_link_libraries(${PROJECT_NAME} INTERFACE
   Eigen3::Eigen
   spdlog::spdlog
   fastrtps
-  fastcdr
 )
 
 # Use moderate compiler warning option

README.md

@@ -11,15 +11,15 @@ Flexiv RDK (Robotic Development Kit), a key component of the Flexiv Robotic Soft
 
 ## Compatibility Overview
 
-| **Supported OS**           | **Supported processor** | **Supported language** | **Required compiler kit** |
-| -------------------------- | ----------------------- | ---------------------- | ------------------------- |
-| Linux (Ubuntu 20.04/22.04) | x86_64, arm64           | C++, Python            | build-essential           |
-| macOS 12 and above         | arm64                   | C++, Python            | Xcode Command Line Tools  |
-| Windows 10/11              | x86_64                  | C++, Python            | MSVC v14.2+               |
+| **Supported OS**               | **Supported processor** | **Supported language** | **Required compiler kit** |
+| ------------------------------ | ----------------------- | ---------------------- | ------------------------- |
+| Linux (Ubuntu 20.04 and above) | x86_64, arm64           | C++, Python            | build-essential           |
+| macOS 12 and above             | arm64                   | C++, Python            | Xcode Command Line Tools  |
+| Windows 10 and above           | x86_64                  | C++, Python            | MSVC v14.2+               |
 
 ## Quick Start
 
-The **C++ and Python** RDK libraries are packed into a unified modern CMake project named ``flexiv_rdk``, which can be configured and installed via CMake on all supported OS.
+The **C++ and Python** RDK libraries are packed into a unified modern CMake project named ``flexiv_rdk``, which can be configured and installed using CMake on all supported OS.
 
 ### Note
 
@@ -38,20 +38,22 @@ The **C++ and Python** RDK libraries are packed into a unified modern CMake proj
        cd flexiv_rdk/thirdparty
        bash build_and_install_dependencies.sh ~/rdk_install
 
-4. In a new Terminal, use CMake to configure the ``flexiv_rdk`` project:
+   NOTE: Internet connection is required for this step.
+
+4. In a new Terminal, configure ``flexiv_rdk`` library as a CMake project:
 
        cd flexiv_rdk
        mkdir build && cd build
        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install -DINSTALL_PYTHON_RDK=ON
 
-   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` sets the CMake variable that specifies the path of the installation directory. ``-D`` followed by ``INSTALL_PYTHON_RDK=ON`` enables the installation of Python RDK besides C++ RDK. The configuration process can also be done using CMake GUI.
+   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` sets the CMake variable that specifies the path of the installation directory. ``-D`` followed by ``INSTALL_PYTHON_RDK=ON`` enables the installation of the Python library alongside the C++ library. Alternatively, this configuration step can be done using CMake GUI.
 
-5. Install C++ and Python RDK:
+5. Install ``flexiv_rdk`` libraries (C++ and Python):
 
        cd flexiv_rdk/build
        cmake --build . --target install --config Release
 
-   C++ RDK is installed to the path specified by ``CMAKE_INSTALL_PREFIX``, which may or may not be globally discoverable by CMake. Python RDK is installed to the user site packages path, which is globally discoverable by Python interpreter.
+   The C++ library will be installed to ``CMAKE_INSTALL_PREFIX`` path, which may or may not be globally discoverable by CMake. The Python library is installed to the user site packages path, which is globally discoverable by the Python interpreter.
 
 ### Install on macOS
 
@@ -73,9 +75,9 @@ The **C++ and Python** RDK libraries are packed into a unified modern CMake proj
 3. Install bash emulator: Download and install [Git for Windows](https://git-scm.com/download/win/), which comes with a bash emulator Git Bash.
 4. Within the bash emulator, the rest are identical to steps 2 and below in [Install on Linux](#install-on-linux).
 
-### Link to C++ RDK from a user program
+### Link to installed library from a user program
 
-After C++ RDK is installed, it can be found as a CMake library and linked to by other CMake projects. Use the provided examples project for instance::
+After the C++ RDK library is installed, it can be found as a CMake target and linked to from other CMake projects. Using the provided examples project for instance::
 
     cd flexiv_rdk/example
     mkdir build && cd build

cmake/flexiv_rdk-config.cmake.in

@@ -6,7 +6,6 @@ find_dependency(Threads REQUIRED)
 find_dependency(Eigen3 REQUIRED)
 find_dependency(spdlog REQUIRED)
 find_dependency(fastrtps 2.6.7 REQUIRED)
-find_dependency(fastcdr 1.0.24 REQUIRED)
 
 # Add targets file
 include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")

doc/Doxyfile.in

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv RDK APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.5
+PROJECT_NUMBER         = 1.5.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a