RCF Tutorials

This tutorial will show you how to run the Robot Control Framework (RCF) and provide a simple interface to trigger changes in the state machine.

Preparation

Before your start the tutorials for RCF, there are a few things you need to do:

  1. Modify your SETUP script file (SETUP.bat for Windows or SETUP.sh for Ubuntu) ACTIN_HOME should point to where you installed the Actin SDK.

Example: SETUP.bat.

    set EC_PRINT_LEVEL=DEBUG
    set ACTIN_HOME=<path-to-actin-sdk-directory>
    set EC_TOOLKITS_DATA=%ACTIN_HOME%\examples\..\share\data\data\toolkits
    set PATH=%ACTIN_HOME%\bin;%ACTIN_HOME%\examples\build\bin\Release;%PATH%

Example SETUP.sh

    export EC_PRINT_LEVEL=DEBUG
    export ACTIN_HOME=<path-to-actin-sdk-directory>
    export EC_TOOLKITS_DATA=$ACTIN_HOME/examples/../share/data/data/toolkits
    export LD_LIBRARY_PATH=$ACTIN_HOME/lib:$ACTIN_HOME/examples/build/bin
  1. Download the tutorial source code here: rcf-tutorials.zip

  2. Place the folder controllerTutorials in the $ACTIN_HOME/examples.

  3. Modify the CMakeLists.txt file in the folder $ACTIN_HOME/examples Around line 234 add a line for controllerTutorials.

foreach (name 
        . . .
        urGrpcExample
        exampleQmlViewerApp
        qmlInteraction
        qmlSamplePlugin
        controllerTutorials # <-- insert 
        example1
        example2
        example3
        example4)
    add_subdirectory(${name})
endforeach()
  1. Rebuild the examples.
    • Rerun cmake
      • Windows CMake GUI;
      • Ubuntu: run cmake.. from $ACTIN_HOME/examples/build
    • Build the controllerTutorials
      • Windows: Visual Studio;
      • Ubuntu: make

If you have trouble with the build, send an email to support@energid.com and we'll help you.