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UM-ARM-Lab / kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
BSD 2-Clause "Simplified" License
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Use Fast Robot Interface from TRI #87

Closed bsaund closed 9 months ago

bsaund commented 6 years ago

TRI uses the Fast Robot Interface (FRI) to control the Kuka Arms. There are possibly numerous benefits to switching over.

PeterMitrano commented 9 months ago

We've looked into the potential benefits, and determined that we would lose significant functionality if we switched to FRI. Ideally we would have a stack which allowed one to easily use FRI or the Java+LCM stack, but that's for the future since none of the benefits of FRI (velocity control, it's probably faster) are critical at the moment.