Example for controlling GoFa 15000 with C++ in Ubuntu

[YKK1024]

Hello,
I have seen your examples here. These days I am working on controlling the GoFa 15000 with C++ in Ubuntu. But our requirement is without using ROS. Until now I have not found any already existing interface that can control GoFa with C++ in Ubuntu but without ROS. Could you tell me if there is already one or do I need to write it by myself or could you give me an example that to show how to use egm library in C++ without using roscore?