/RTDE-GUI-Sender

RTDE script sender c++

Primary LanguageC++

UR-RTDE Sender

This tool was made to facilitate 3D printing on an Universal robot.

Installation

Download the final realease here

For developers

Only compatible with 64bit architecture, Please make sure your toolchain is setup in 64Bit Create a new project folder were you want

mkdir myProject
cd myProject

Pre-requisite :

  • Download and install Boost binairies according to your Visual Studio version in your project directory (14.2 x64 worked for me),
  • Download and install CMake x64
  • Download and install Visual Studio Community
  • Install Qt VS Tools using visual studio extension manager. Then restart Visual studio

Building dependencies

First of all we have to compile ur_rtde library. The most repetable process is to use CMake and MSBuild to do so. Make sure you've installed CMake and VS, please also check your environnement variable, the should both be added to PATH. MSBuild is usualy located into : C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\MSBuild\Current\Bin

git clone https://gitlab.com/sdurobotics/ur_rtde.git
cd ur_rtde
mkdir build
cd build
cmake -DBOOST_ROOT="C:\local\boost_1_76_0" -DBOOST_LIBRARYDIR="C:\local\boost_1_76_0\lib64-msvc-14.2" -DPYTHON_BINDINGS=OFF ..
MSBuild.exe ur_rtde.sln /property:Configuration=Release /maxcpucount:8

ur_rtde should be compiled into Realease folder.

Setting up the Visual Studio environnement.

Into your project folder clone this repo : https://github.com/JulesTopart/RTDE-GUI-Sender.git Then open the RTDE-fdm-gui.sln file. In Visual studio, press Alt+Enter to open project properties. In the upper dropdown select All Configuration and All Platform to avoid any errors...

  • Go into C/C++/Include directories and paste the followoing : C:\dev\boost_1_76_0;C:\dev\ur_rtde\include;%(AdditionalIncludeDirectories)
  • Go into Linker/Additionnal Include Directories and paste the following : C:\dev\boost_1_76_0\lib64-msvc-14.2;C:\dev\ur_rtde\build\Release;%(AdditionalLibraryDirectories)
  • Go into Linker/Input and paste the following : rtde.lib;%(AdditionalDependencies)

The dependencies are now setup. Now we have to setup Qt VS Tools. In the upped nav bar, into Extensions/Qt VS Tools/Qt Version Add your 64bit Qmake Path. (ex : C:\Qt\5.15.2\msvc2019_64\bin\qmake.exe)

Go back into project setting (Alt+Enter) And navigate to Qt Project setting. Select your fresh Qt installation and add those modules core;gui;widgets;charts;network;concurrent Set the build config to Realease and your good to go !