Release/v2.1

.github/workflows/ci-cpp.yml

@@ -0,0 +1,34 @@
+name: CI-Cpp
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  ci-cpp:
+    name: CI-Cpp @ ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-22.04
+          - ubuntu-22.04-arm
+          - ubuntu-24.04
+          - ubuntu-24.04-arm
+          - macos-14
+          - windows-2022
+    steps:
+      - uses: actions/checkout@v6
+      - uses: ./.github/workflows/shared_cpp_steps

.github/workflows/ci-python.yml

@@ -0,0 +1,37 @@
+name: CI-Python
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
+
+jobs:
+  ci-python:
+    name: CI-Python @ ${{ matrix.os }} (${{ matrix.python-version }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-22.04
+          - ubuntu-22.04-arm
+          - ubuntu-24.04
+          - ubuntu-24.04-arm
+          - macos-14
+          - windows-2022
+        python-version:
+          - "3.10"
+          - "3.12"
+    steps:
+      - uses: actions/checkout@v6
+      - uses: ./.github/workflows/shared_python_steps
+        with:
+          python-version: ${{ matrix.python-version }}

.github/workflows/shared_steps/action.yml → .github/workflows/shared_cpp_steps/action.yml

@@ -1,4 +1,4 @@
-name: "Shared Build Steps"
+name: "Shared Check Steps for C++"
 runs:
   using: "composite"
   # Note: working directory will be reset to the repo root for each new step
@@ -25,7 +25,7 @@ runs:
         cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
         cmake --build . --target install --config Release
 
-    # Find and link to flexiv_rdk library, then build all example programs.
+    # Find and link to flexiv_rdk library, then build all examples.
     - name: Build examples
       shell: bash
       run: |
@@ -34,11 +34,17 @@ runs:
         cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
         cmake --build . --config Release -j 8
 
-    # Find and link to flexiv_rdk library, then build all test programs.
+    # Find and link to flexiv_rdk library, then build all tests.
     - name: Build tests
       shell: bash
       run: |
         cd test
         mkdir -p build && cd build
         cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
         cmake --build . --config Release -j 8
+
+    - name: Run unit tests
+      shell: bash
+      run: |
+        cd test/build
+        ctest --output-on-failure

.github/workflows/shared_python_steps/action.yml

@@ -0,0 +1,41 @@
+name: "Shared Check Steps for Python"
+inputs:
+  python-version:
+    description: "Python version used for example compilation checks"
+    required: true
+runs:
+  using: "composite"
+  steps:
+    - name: Set up Python
+      uses: actions/setup-python@v6
+      with:
+        python-version: ${{ inputs.python-version }}
+
+    - name: Install latest flexivrdk
+      shell: bash
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install flexivrdk
+
+    - name: Byte-compile Python examples
+      shell: bash
+      run: |
+        python - <<'PY'
+        from pathlib import Path
+        import py_compile
+
+        root = Path('example_py')
+        files = sorted(
+            path for path in root.glob('*.py')
+            if path.name.startswith('basics') or path.name.startswith('intermediate')
+        )
+
+        for path in files:
+            py_compile.compile(str(path), doraise=True)
+            print(f'py_compile OK: {path}')
+        PY
+
+    - name: Run unit tests
+      shell: bash
+      run: |
+        python test/test_robot_constructor.py -v

.gitignore

@@ -1,5 +1,6 @@
 .vscode
 .vs
+.venv
 .DS_Store
 *.a
 *.so

CMakeLists.txt

@@ -3,7 +3,12 @@ cmake_minimum_required(VERSION 3.22.1)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 2.0)
+project(flexiv_rdk VERSION 2.1 LANGUAGES CXX)
+
+# CMake >= 3.30 warns for FindBoost behavior unless CMP0167 is explicitly set.
+if(POLICY CMP0167)
+  cmake_policy(SET CMP0167 OLD)
+endif()
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
@@ -40,7 +45,7 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "QNX")
   elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64le")
     set(RDK_LIB "libflexiv_rdk.aarch64-qnx.a")
   else()
-    message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+    message(FATAL_ERROR "QNX with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
 else()
   message(FATAL_ERROR "${CMAKE_SYSTEM_NAME} is currently not supported.")
@@ -80,13 +85,13 @@ message(STATUS "Found Eigen3 v${Eigen3_VERSION}: ${Eigen3_DIR}")
 find_package(spdlog 1.9.2 REQUIRED)
 message(STATUS "Found spdlog v${spdlog_VERSION}: ${spdlog_DIR}")
 
-# Fast-DDS
-find_package(fastdds 3.5.0 REQUIRED)
-message(STATUS "Found fastdds v${fastdds_VERSION}: ${fastdds_DIR}")
+# zenoh-c
+find_package(zenohc 1.9.0 REQUIRED)
+message(STATUS "Found zenohc v${zenohc_VERSION}: ${zenohc_DIR}")
 
-# Fast-CDR
-find_package(fastcdr 2.3.5 REQUIRED)
-message(STATUS "Found fastcdr v${fastcdr_VERSION}: ${fastcdr_DIR}")
+# zenoh-cpp
+find_package(zenohcxx 1.9.0 REQUIRED)
+message(STATUS "Found zenohcxx v${zenohcxx_VERSION}: ${zenohcxx_DIR}")
 
 # RBDyn
 set(Boost_USE_STATIC_LIBS OFF)
@@ -113,19 +118,23 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   Threads::Threads
   Eigen3::Eigen
   spdlog::spdlog
-  fastdds
-  fastcdr
+  zenohcxx::zenohc
   RBDyn::RBDyn
   RBDyn::Parsers
 )
 
+# C++20 required (PUBLIC so the standard propagates to consumers)
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_20)
+
 # Use moderate compiler warning option
 if(CMAKE_HOST_UNIX)
   target_compile_options(${PROJECT_NAME} PUBLIC -Wall -Wextra)
 else()
   target_compile_options(${PROJECT_NAME} PUBLIC /W1)
 endif()
 
-# Install the library
+# ===================================================================
+#      LIBRARY INSTALLATION
+# ===================================================================
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
 FlexivInstallLibrary()

LICENSE

@@ -205,9 +205,7 @@
       - boost: https://github.com/boostorg/boost/blob/master/LICENSE_1_0.txt
       - spdlog: https://github.com/gabime/spdlog/blob/master/LICENSE
       - tinyxml2: https://github.com/leethomason/tinyxml2/blob/master/LICENSE.txt
-      - foonathan_memory_vendor: https://github.com/eProsima/foonathan_memory_vendor/blob/master/LICENSE
-      - Fast-CDR: https://github.com/eProsima/Fast-CDR/blob/master/LICENSE
-      - Fast-DDS: https://github.com/eProsima/Fast-DDS/blob/master/LICENSE
       - yaml-cpp: https://github.com/jbeder/yaml-cpp/blob/master/LICENSE
       - SpaceVecAlg: https://github.com/jrl-umi3218/SpaceVecAlg/blob/master/LICENSE
       - RBDyn: https://github.com/jrl-umi3218/RBDyn/blob/master/LICENSE
+      - Zenoh: https://github.com/eclipse-zenoh/zenoh/blob/main/LICENSE