Merge pull request #4 from Kinovarobotics/release/2.2.0

Push release 2.2 to master

simplified_api/README.md

@@ -19,14 +19,17 @@ This software has been tested on **Ubuntu 16.04 (64-bit)** and **Windows 10**
 
 ## Download instructions
 
-You can download the latest firmware package for the Gen3 from [here](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/gen3/2.0.0/Gen3-2.0.0.swu).
-
-You can download the latest Gen3 release notes from [here](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/gen3/2.0.0/RN-001_KINOVA_Gen3_Ultra_lightweight_robot-Release_Notes_EN_R04.pdf).
-
 ## Installation Instructions
-You can access the latest release of the MATLAB adaptor [here](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/matlab/simplified_API/2.0.0/matlab_simplified_api_2.0.0.zip) on the Kinova Artifactory.
+You can access the latest release of the MATLAB adaptor [here](https://artifactory.kinovaapps.com/artifactory/webapp/#/artifacts/browse/tree/General/generic-local-public/kortex/matlab/simplified_api/) on the Kinova Artifactory.
 
-Uncompress the MATLAB adaptor folders from the downloaded archive.
+### Windows Operating System
+From the Kinova Artifactory:
+* Expand `kortex/matlab/simplified_api` to see the release folders
+* Right-click on the desired release folder
+* Select `Download` in the context menu
+* Choose the desired Archive Type
+* Click on `Download`
+* Extract the MATLAB adaptor folders from the downloaded archive.
 
 ## Build instructions
 
@@ -48,11 +51,8 @@ sudo apt install build-essential pkg-config
 ```
 
 ### How to build
-- Open MATLAB and navigate to the `mex-wrapper` folder.
-- Add the current folder and all of its subfolders to the MATLAB path.
-- Run the script `compileKortexMex.m` and wait until its completion.
 
-You are now ready to use the KORTEX™ MEX (MATLAB executable) interface.
+Refer to the dedicated page for [Setup](documentation/setup.md)
 
 ## Usage
 
@@ -62,11 +62,13 @@ There are two ways to interact with the robot via MATLAB.
 2. Using the MATLAB System object `kortex` (which itself uses the KORTEX™ API MEX interface)
 
 The KORTEX™ API MEX interface is the best option for controlling the arm via a MATLAB script.
-The `kortex` System object on the other hand is intended for dynamical simulations of the robot as part of a system in [Simulink](https://www.mathworks.com/help/simulink/define-new-system-objects.html). 
+The `kortex` System object on the other hand is intended for dynamical simulations of the robot as part of a system in [Simulink](https://www.mathworks.com/help/simulink/define-new-system-objects.html).
 
 For more information on both options:
 
 * [MEX interface](documentation/mex_interface.md)
 * [System object](documentation/system_object.md)
 
+In addtion, MATLAB Code Generation support for generating a ROS2 node and deploying the `kortex` System Object node directly on a NVidia Jetson Xavier platform is available. For more information, refer to the [ROS2 Code Generation on Jetson Target](documentation/setup.md#ROS2-Code-Generation-on-Jetson-Target) section in the Setup page.
 
+For more information on MATLAB code generation, see this [Mathworks documentation page](https://www.mathworks.com/help/mpc/code-generation.html).

simplified_api/documentation/data_structure.md

@@ -114,6 +114,22 @@ This is a data structure returned by most of the functions of the MEX interface.
 | uint32_t |   code   | A general [error code](#error-code-list) associated with this error. Most users will not need to work with this value because it does not tell much and is used internally in the Kortex API. |
 | uint32_t | sub_code | An [error sub code](#sub-error-code-list) that gives more information about the error. Most users will prefer to use this value instead of the general code.                        
 
+<a name="MotorFeedback"></a>
+## MotorFeedback
+
+| Type | Name | Description |
+|:-----:|:----:|:-----------:|
+| uint32_t | motor_id | MessageId |
+| uint32_t | status_flags | Status flags |
+| uint32_t | jitter_comm | Jitter from the communication (in microsecond) |
+| double | position | Position of the gripper motor (in Percentage 0-100%) |
+| double | velocity | Velocity of the gripper motor (in Percentage 0-100%) |
+| double | force | Force of the gripper motor |
+| double | current_motor | Electric current of the gripper motor (in mA) |
+| double | voltage | Voltage of the gripper motor (in V) |
+| double | temperature_core | temparature of the core (in Celsius) |
+| double | temperature_motor | temparature of the gripper motor (in Celsius) |
+
 <a name="GripperFeedback"></a>
 ## GripperFeedback
 
@@ -126,13 +142,7 @@ This is a data structure returned by most of the functions of the MEX interface.
 | uint32_t | warning_bank_a | Warning bank A (see `GripperConfig.SafetyIdentifier`) |
 | uint32_t | warning_bank_b | Warning bank B (see `GripperConfig.SafetyIdentifier`) |
 | uint32_t | motor_count | Motor count on the gripper. |
-| uint32_t\[GRIPPER_MAX_MOTOR_COUNT\] | motor_id | Motor ID |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_position | Position of the gripper fingers in percentage (0-100%) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_velocity | Velocity of the gripper fingers in percentage (0-100%) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_current_motor | Current comsumed by the gripper motor (mA) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_voltage | Motor Voltage (V) |
-| double\[GRIPPER_MAX_MOTOR_COUNT\] | motor_temperature_motor | Motor temperature. (degrees Celsius) |
-
+| [MotorFeedback](#motorfeedback)\[GRIPPER_MAX_MOTOR_COUNT\] | motor | Feedback of all gripper motors |
 
 <a name="InterconnectFeedback"></a>
 ## InterconnectFeedback
@@ -158,6 +168,16 @@ This is a data structure returned by most of the functions of the MEX interface.
 | double | difference_count_b |  |
 | [GripperFeedback](#gripperfeedback) | gripper_feedback | Feedback data from gripper (if attached) |
 
+<a name="DistortionCoefficients"></a>
+## DistortionCoefficients
+
+| Type | Name | Description |
+|:-----:|:----:|:-----------:|
+| double | k1 | First radial distortion coefficient |
+| double | k2 | Second radial distortion coefficient |
+| double | k3 | Third radial distortion coefficient |
+| double | p1 | First tangential distortion coefficient |
+| double | p2 | Second tangential distortion coefficient |
 
 <a name="IntrinsicParameters"></a>
 ## IntrinsicParameters
@@ -170,11 +190,7 @@ This is a data structure returned by most of the functions of the MEX interface.
 | double | principal_point_y | Vertical coordinate of the principal point of the image, as a pixel offset from the top edge |
 | double | focal_length_x | Focal length of the image plane, as a multiple of pixel width |
 | double | focal_length_y | Focal length of the image plane, as a multiple of pixel height |
-| double | k1 | First radial distortion coefficient |
-| double | k2 | Second radial distortion coefficient |
-| double | k3 | Third radial distortion coefficient |
-| double | p1 | First tangential distortion coefficient |
-| double | p2 | Second tangential distortion coefficient |
+| [DistortionCoefficients](#distortioncoefficients) | distortion_coeffs | Distortion Coefficients |
 
 
 <a name="RotationMatrix"></a>