plcopen-motion

RTmotion

C++ library of PLCopen motion control function blocks

Documentation

The documentation can be compiled to doc subfolder through the commands:

sudo apt install graphviz

doxygen ./Doxyfile

Open doc/html/index.html to check the documentation.

Dependency

Install system depends:

sudo apt-get -qq install cmake git build-essential

Install Ruckig:

git clone -b v0.9.2 https://github.com/pantor/ruckig.git
cd ruckig
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make
make install

Build

cd <RTmotion_root_directory>

mkdir build && cd build

# If build on Ubuntu Linux, run the next command
cmake ..

# If build on PREEMPT Linux, run the next command
cmake ..

# If build on Xenomai, run the next command
cmake .. -DXENOMAI_DIR=<path_to_xenomai_directory>

make && sudo make install

# Try **sudo ldconfig** after installation if meet any problem related to library file missing.

Note: Install googletest then add -DTEST=ON or -DPLOT=ON to CMake commands if need to do Unit Test or plot the result. Check Unit Test below for details.

Run Minimum Example

<build folder>/src/multi-axis

Run Evaluation Example

Running the evaluation program using the following commands:

<build folder>/src/multi-axis-monitor

Note: This evaluation program enables a MC_MoveRelative function block running in 1ms real-time cycle. The function block will be re-triggered everytime it finished its task. It can be stopped by Ctrl+C.

Unit Test

Googletest is used as the test framework. Therefore, if test running is desired, follow the commands below to install gtest at first.

sudo apt install googletest

or

git clone -b v1.14.0 https://github.com/google/googletest.git
cd googletest
mkdir build
cd build
cmake .. -DBUILD_SHARED_LIBS=ON -DCMAKE_CXX_FLAGS="-std=c++11"
make
make install

Note: In order to build the tests, add the argument -DTEST=ON to CMake commands.

To enable the plotting in the test, add CMake argument -DPLOT=ON and install the dependencies below:

sudo apt-get install python3-matplotlib python3-numpy python3-dev

Run unit tests by following the commands below:

• On-line S-Curve Algorithm Test:

  <build folder>/test/online_scurve_test

• Trjactory Planner Test:

  <build folder>/test/planner_test

• Function Block Test:

  <build folder>/test/function_block_test

Link to the library

By default the header files are installed to /usr/local/include/RTmotion/, the library file libRTmotion.so are installed to /use/local/lib.