Copyright © 2025 Doosan Robotics Inc

Doosan Robotics Framework Library

This document outlines the procedure for building the DRFL on Windows and Linux platforms. For detailed instructions, please refer to the official manual linked below:

Official Doosan Robotics API Manual

DRCF Version Compatibility

This code uses a preprocessor macro (DRCF_VERSION) to ensure compatibility with different versions of the Doosan Robot Controller Framework (DRCF).

To specify your DRCF version:

• For DRCF v2: Set DRCF_VERSION to 2.
• For DRCF v3: Set DRCF_VERSION to 3.

Example:

#ifndef DRCF_VERSION
    #define DRCF_VERSION 3 // Set to 3 for DRCF v3
#endif

System Requirements

Please ensure your environment meets the following conditions:

• Library Composition: Refer to the structure of the library via this link.
• Recommended Specifications: Review the recommended operational specifications here.

Build Guidelines

Windows (64-bit)

To build the Windows example, utilize the Visual Studio 2017 solution file provided at the link below:

Windows Example Solution

Linux (64-bit)

Automated Build Scripts

For easier building and cleaning, you can use the provided automated scripts:

Build Script Usage:

./API_DRFL_BUILD.sh

• Automatically detects Ubuntu version and architecture
• Scans all .cpp files in example/Linux_64 directory
• Allows you to select which file to build (1, 2, 3...)
• Handles library linking automatically
• Creates executables in out/ directory
• Optionally runs the built executable

Clean Script Usage:

./API_DRFL_CLEAN.sh

• Removes all .o object files
• Removes the out/ directory and all executables
• Asks for confirmation before cleaning