Release/v1.0

[pzhu-flexiv]

RDK v1.0 Pre-release

ADD

• Upgrade to DDS based communication framework.
• Add real-time communication QoS.
• Add RPC-over-DDS.
• Add IP-less server discovery.
• Add support to set velocity scale for Robot::executePrimitive() and Robot::executePlan().
• Add option to make Robot::isOperational() verbose and print detailed reasons why the robot is not operational.

CHANGE

• Optimize network bandwidth consumption.
• Improve check logic of timeliness monitor.
• Change Robot::writeDigitalOutput() and Robot::readDigitalInput() to handle all ports at once.
• Replace exception with warning in Robot::enable() if E-Stop is not released.
• Re-write delivery logic of non-real-time commands to avoid undesired behaviors.
• Improve CMake installation interface.
• Increase clang-format column limit from 80 to 100.
• Rename "operation mode" to "control mode".
• Change digital IO data communication from non-real-time asynchronous to real-time synchronous.

KNOWN ISSUE

• Robot::startAutoRecovery() is temporarily not working