You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013302.

1.3.4 Linux (Ubuntu) Environment (64-bit)

Note

  • Supported Ubuntu Versions: 18.04, 20.04, 22.04, 24.04

  • Supported Architectures: AMD64, ARM64

  • Simulator: RViz

A. Create a workspace

mkdir API-DRFL
cd API-DRFL

B. Clone the DRFL repository

Clone the official DRFL repository and move into the example directory.

Check here about API-DRFL Repository

git clone https://github.com/doosan-robotics/API-DRFL.git
cd API-DRFL/example/Linux_64

C. Launch Simulator (Virtual Mode)

Before building and running the example, you must start the RViz simulator using Docker and ROS2.

Open a new terminal and launch the Doosan RViz simulator in virtual mode. Keep this terminal running, it will act as your robot simulator.

cd ~/ros2_ws
ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual host:=127.0.0.1 port:=12345 model:=m0609

Note

  • If the doosan-robot2 ROS2 package is not installed on your system, please refer to the official repository below and complete the installation before launching the simulator:

    Check here about doosan-robot2 Repository

  • Follow the installation instructions in the repository README.md, then proceed with the simulator launch steps described in this section.

  • mode:=virtual : Runs in virtual (simulation) mode

  • host:=127.0.0.1 : Localhost connection

  • port:=12345 : Default controller/emulator port

  • model:=m0609 : Selects robot model (e.g., M0609)

If you are connecting to a real robot, replace the parameters accordingly:

ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=real host:=192.168.137.100 port:=12345 model:=m0609

  • Make sure your robot controller and PC are in the same network subnet.

  • The robot must be in Auto (Remote) mode to accept API commands.

Tip

Before running the build script, confirm that Docker and the virtual port (12345) are active:

sudo docker ps
nc -vz 127.0.0.1 12345

  • If the above commands show an active container and successful connection, the simulator is running correctly and ready for API communication.

  • The build script should be executed after launching the RViz simulator, as it depends on the active socket port (12345).

D. Build the project

Build Script

Now return to your API workspace terminal and build the DRFL example.

./API_DRFL_BUILD.sh

This script automatically:

  • Detects your Ubuntu version and architecture

  • Scans all .cpp files in the directory

  • Allows you to select which file to build (1, 2, 3…)

  • Handles library linking automatically

  • Creates executables in the out/ directory

  • Optionally runs the built executable

Tip

If you encounter a connection failure after building, check it.
1. Your IP address in the source file (must match the robot or emulator).
2. That the controller or DART emulator is running on port 12345/TCP.
3. Network access is not blocked by firewall or Docker isolation.

Clean Script

To remove build artifacts and executables:

./API_DRFL_CLEAN.sh

This script:

  • Removes all .o object files

  • Removes the out/ directory and all executables

  • Asks for confirmation before cleaning

Tip

The automated build scripts are the fastest and safest way to compile DRFL examples, especially if you are switching between Ubuntu versions or CPU architectures.


Note

Although library versions traditionally differed across Ubuntu releases, Ubuntu 24.04 now uses the same libPoco.80 version as Ubuntu 22.04 for compatibility.