.. test documentation master file, created by
   sphinx-quickstart on Wed Mar 31 14:33:26 2021.
   You can adapt this file completely to your liking, but it should at least
   contain the root `toctree` directive.

Flexiv RDK Manual
==========================================

`[RDK Home Page] <https://www.flexiv.com/software/rdk/>`_

Flexiv RDK (Robotic Development Kit), a key component of the Flexiv Robotic Software Platform, is a powerful development toolkit that enables the users to create complex and customized robotic applications using APIs that provide both low-level real-time (RT) and high-level non-real-time (NRT) access to Flexiv robots.
 
All functionalities of Flexiv RDK are packed into the `[flexiv_rdk] repository <https://github.com/flexivrobotics/flexiv_rdk/>`_.

.. important::
   Before using the robot with Flexiv RDK, you must carefully read through all documents shipped with the robot 
   as well as this manual, and strictly follow **all safety instructions** detailed in these documents.


Table of contents
-----------------

.. toctree::
   :maxdepth: 2
   :caption: Overview

   what_is_rdk
   key_features
   environment_compatibility
   system_requirements
   robot_software_compatibility
   release_notes

.. toctree::
   :maxdepth: 2
   :caption: Installation

   download_rdk
   install_for_cpp
   install_for_python
   realtime_ubuntu

.. toctree::
   :maxdepth: 2
   :caption: First Time Setup

   set_up_the_robot
   activate_rdk_server
   enter_and_exit_remote_mode
   establish_connection
   verify_with_example_programs

.. toctree::
   :maxdepth: 2
   :caption: Flexiv RDK

   api_overview
   control_modes
   robot_states
   robot_description
   digital_io_control
   loss_of_connection
   free_drive

.. toctree::
   :maxdepth: 2
   :caption: Troubleshooting

   faq
   error_handling

.. toctree::
   :maxdepth: 2
   :caption: ROS Bridges

   ros2_bridge
   ros1_bridge