Copyright © 2025 Doosan Robotics Inc

Doosan Robotics Framework Library

This document outlines the procedure for building the DRFL on Windows and Linux platforms. For detailed instructions, please refer to the official manual linked below:

DRFL Manual

DRCF Version Compatibility

This code uses a preprocessor macro (DRCF_VERSION) to ensure compatibility with different versions of the Doosan Robot Controller Framework (DRCF).

To specify your DRCF version:

• For DRCF v2: Set DRCF_VERSION to 2.
• For DRCF v3: Set DRCF_VERSION to 3.

Example:

#ifndef DRCF_VERSION
    #define DRCF_VERSION 3 // Set to 3 for DRCF v3
#endif

System Requirements

Note: DRFL is designed to operate on x86 architectures. Arm64 architecture is supported exclusively for Linux platforms.

Please ensure your environment meets the following conditions:

• Library Composition: Refer to the structure of the library via this link.
• Recommended Specifications: Review the recommended operational specifications here.

Build Guidelines

The library files (.a, .dll, etc.) included in this repository are sample versions intended for demonstration purposes. To ensure you are using the latest release of DRFL, please download the current version from the following link:

Download Latest DRFL

Windows (64-bit)

To build the Windows example, utilize the Visual Studio 2015 solution file provided at the link below:

Windows Example Solution

Linux (64-bit)

Prerequisites

Before building, install the required Poco development libraries:

sudo apt-get install libpoco-dev

Automated Build Scripts

For easier building and cleaning, you can use the provided automated scripts:

Build Script Usage:

./API_DRFL_BUILD.sh

• Automatically detects Ubuntu version and architecture
• Scans all .cpp files in example/Linux_64 directory
• Allows you to select which file to build (1, 2, 3...)
• Handles library linking automatically
• Creates executables in out/ directory
• Optionally runs the built executable

Clean Script Usage:

./API_DRFL_CLEAN.sh

• Removes all .o object files
• Removes the out/ directory and all executables
• Asks for confirmation before cleaning

Manual Installation

Ubuntu supports versions : 18.04, 20.04 and 22.04.

1. Navigate to the example directory and compile using g++:

   g++ -c main.cpp

2. Once main.o is created successfully, run the following command to generate the executable:

   x86(18.04)

   g++ -o drfl_test main.o ../../library/Linux/64bits/amd64/{your_ubuntu_version}/libDRFL.a /usr/lib/libPocoFoundation.so /usr/lib/libPocoNet.so

   x86(20.04 or 22.04)

   g++ -o drfl_test main.o ../../library/Linux/64bits/amd64/{your_ubuntu_version}/libDRFL.a /usr/lib/x86_64-linux-gnu/libPocoFoundation.so /usr/lib/x86_64-linux-gnu/libPocoNet.so

   Arm64(18.04)

   g++ -o drfl_test main.o ../../library/Linux/64bits/arn64/{your_ubuntu_version}/libDRFL.a /usr/lib/libPocoFoundation.so /usr/lib/libPocoNet.so

   Arm64(20.04 or 22.04)

   g++ -o drfl_test main.o ../../library/Linux/64bits/arn64/{your_ubuntu_version}/libDRFL.a /usr/lib/aarch64-linux-gnu/libPocoFoundation.so /usr/lib/aarch64-linux-gnu/libPocoNet.so

3. Verify the build and, upon completion, proceed with testing the connection to the actual controller.

Realtime Command Example Usage

The 6_realtime_control_sample.cpp provides a streamlined interface for real-time robot control:

Key Commands:

• 's': Start complete realtime control sequence (combines initialization, configuration, and execution)
• 'e': Stop and disconnect realtime control
• 'q': Quit program

Usage Steps:

1. Compile and run the realtime example
2. Wait for robot connection and control authority
3. Press 's' to start realtime control - this will:
   • Connect RT control
   • Configure RT control output (v1.0, 1ms period)
   • Set autonomous mode and start RT control
   • Create high-priority realtime thread for trajectory execution
4. Press 'e' to stop realtime control
5. Press 'q' to exit

Features:

• Automated trajectory planning between two joint positions
• 1ms control loop with real-time thread priority
• Continuous alternating motion between start and end positions
• Real-time monitoring and logging capabilities