Open jellehierck opened 2 months ago
hi @jellehierck. Thank you for checking the license of 1.10
. I am afraid this FRI cannot be distributed.
Upgrading the FRI usually requires changes to the robot controller itself and therefore KUKA's support.
You should still be able to compile but it will be less convenient. Wondering if there is a good way for it.
The changes from 1.10
to 1.11
, however, might be minor. You might be able to run on 1.11
regardless.
What I would suggest, is to try bare-bones 1.11
: https://github.com/lbr-stack/fri/tree/fri-1.11#build. You could even checkout fri-1.11
branch, then then overwrite with your 1.10
and do a git diff
to assess the differences. This could be as simple as a fixed typo or what not.
See if you can run the demo apps. Let me know if you need help doing that.
Thanks for confirming my suspicion that v1.10 cannot be distributed. I think that this issue can be closed with that comment.
Regarding the newer versions of FRI, I'll try that in the near future! If I need any help with that, I will contact you or open another issue.
any luck running on a newer FRI version @jellehierck ?
Unfortunately our LBR7 is shared by multiple projects in my organization so upgrading the FRI on the cabinet won't happen in the near future. So I have also not tried to run other FRI SDK versions.
From: mhubii @.> Sent: Monday, May 13, 2024 8:08:02 PM To: lbr-stack/fri @.> Cc: jellehierck @.>; Mention @.> Subject: Re: [lbr-stack/fri] License issues for contributing FRI v1.10 (Issue #25)
any luck running on a newer FRI version @jellehierckhttps://github.com/jellehierck ?
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you could do it manually:
source /opt/ros/humble/setup.bash
export FRI_CLIENT_VERSION=1.15
mkdir -p lbr-stack/src && cd lbr-stack
vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
rosdep install --from-paths src -i -r -y
src/fri
and replace FRI-Client-SDK_cpp.zip
with yours1.10
https://github.com/lbr-stack/fri/blob/269ea63e5566a06cf11a768db61abf8442d96e70/CMakeLists.txt#L56colcon build --symlink-install
I'll try to create a branch where the FRI is just loaded from a path via some CMake flag.
As an alternative we could try to contact KUKA and ask for permission, but that could be quite difficult.
I am currently using an LBR7 Med robot with FRI v1.10 on it. I wanted to contribute the Client SDK for CPP of FRI v1.10 to this repository, but then saw the copyright notice in the source code of v1.10 (included below).
Am I correct in assuming that this notice in FRI v1.10 does indeed not allow sharing the source code on this repository? If not, I would be happy to contribute that FRI version.
Notice of one of the source files of Client SDK for FRI version 1.10:
And as an unrelated personal question, is it possible/easy/backwards compatible to upgrade the FRI version on my robot and the client SDK to higher versions, or would I need to contact KUKA support for this?