TwinCAT is the software that we use to separate some CPU kernels from the Windows operating system. This allows for real time control, which is currently being supported for our haptic devices, as well as the concentric tube robots.
Therefore, the FRI must be compiled within the TwinCAT framework. To make this compatible with our CMake approach, it might be possible to alter the generator within the CMakeSettings.json, which is used by Visual Studio to read in the compiler settings.
TwinCAT is the software that we use to separate some CPU kernels from the Windows operating system. This allows for real time control, which is currently being supported for our haptic devices, as well as the concentric tube robots.
Therefore, the FRI must be compiled within the TwinCAT framework. To make this compatible with our CMake approach, it might be possible to alter the generator within the CMakeSettings.json, which is used by Visual Studio to read in the compiler settings.