.. _env_linux:

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
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. code-block:: bash

   mkdir API-DRFL
   cd API-DRFL

B. Clone the DRFL repository
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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

.. code-block:: bash

   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.

.. code-block:: bash

      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 <https://github.com/DoosanRobotics/doosan-robot2>`_

   - 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:

.. code-block:: bash

   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:

   .. code-block:: bash

      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.

.. code-block:: bash

   ./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. |br|
   1. Your IP address in the source file (must match the robot or emulator). |br| 
   2. That the controller or DART emulator is running on port **12345/TCP**.  |br|
   3. Network access is not blocked by firewall or Docker isolation.

**Clean Script**

To remove build artifacts and executables:

.. code-block:: bash

   ./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.

.. raw:: html
      
   <br>

.. raw:: html

   <div style="text-align:center; margin: 1em 0;">
     <iframe width="640" height="360"
             src="https://www.youtube.com/embed/UIEcKtuWQgk"
             title="Tutorial Video"
             frameborder="0"
             allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture"
             allowfullscreen>
     </iframe>
   </div>

.. 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.