fri

This folder adds CMake support to KUKA's Fast Robot Interface (FRI).

Build

To build, run

cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_FRI_APPS=ON
cmake --build build

Run the Apps

To run the example applications, run

./build/LBRJointSineOverlayApp

On the smartPAD, run the LBRJointSineOverlay application. You should see the robot execute a sine wave.

Contributing

Do you use a different FRI version?

1. Fork this repository.
2. Create a branch fri-major.minor (e.g. fri-1.15).
3. Replace FRI-Client-SDK_Cpp.zip with your client SDK as extracted from KUKA Sunrise Workbench. Therefore (see images):
   • In the Software tab of StationSetup.cat, add Fast Robot Interface Extension.
   • Save via ctrl+s, click Save and apply.
   • Under FastRobotInterface_Client_Source, find FRI-Client-SDK_Cpp.zip.

4. Open a pull request.

License

Please note that we distribute the CMake support under MIT license. Please note that third party libraries under FRI-Client-SDK_Cpp.zip are distributed under their respective license.

Citation

If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support.

@misc{huber2023lbrstack,
      title={LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots}, 
      author={Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
      year={2023},
      eprint={2311.12709},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Acknowledgements

This work was supported by core and project funding from the Wellcome/EPSRC [WT203148/Z/16/Z; NS/A000049/1; WT101957; NS/A000027/1].

This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 101016985 (FAROS project).