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ICube-Robotics / iiwa_ros2

ROS2 stack for KUKA iiwa collaborative robots
Apache License 2.0
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Sunrise Connectivity.FRI version? #37

Closed dmronga closed 7 months ago

dmronga commented 1 year ago

Dear maintainers, I was wondering if you could document the FRI version used to test the ROS2 stack. I am using Sunrise Connectivity 1.7 and it seems to be incompatible. What is the minimum FRI / Connectivity version required? Best regards

Odin-byte commented 11 months ago

Did you find the error or the correct version of FRI?

Because I might have stumbled across the same issue as I can not connect to the UDP server or even ping the robot, while all addresses are set up according to the README.

dmronga commented 7 months ago

Sorry for the late reply, the driver works for me with Connectivity 1.7. Previously, I did not have connection problems, but rather compilation errors. I had to rename some imported Java modules in iiwa_ros2.java, e.g., import com.kuka.connectivity.fastRobotInterface.FRIChannelInformation;

rename to

import com.kuka.connectivity.fri.FRIChannelInformation;

and do some minor code changes.