RTmotion

PLCopen motion library

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.

• S-curve trajectory planning

Continous Integration

Travis CI:

Gitlab CI:

Install dependency

sudo apt install libeigen3-dev

# Install ruckig
git clone https://github.com/pantor/ruckig.git

cd <path_to_ruckig>
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make && sudo make install

Build

git clone https://gitlab.devtools.intel.com/iotg-china-ist/plcopen_motion_control.git

cd <path_to_plcopen_motion_control>

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=/usr/xenomai/bin/

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 -DPLOT=ON -DSYSTEM_ROOT=/usr at the end of cmake command if need to do Unit Test and plot the result. Check Unit Test below for details.

Run Demo

single_axis_move_relative

Run Evaluation

Running the evaluation program using the following commands:

axis_move_cyclic

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

  export CXXFLAGS="-std=c++11"
  cd ~ && git clone https://github.com/google/googletest.git
  cd googletest && mkdir build
  cd build
  cmake .. -DBUILD_SHARED_LIBS=ON
  sudo make install

  In order to build the tests, add the argument -DTEST=On to cmake commands.

• To enable the plotting in the test, install the dependencies below.

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

  And add CMake argument -DPLOT=On.

• 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

Please find all headers files under /usr/local/include/RTmotion/. The library file libRTmotion.so locates at /use/local/lib.