Server App for FRI 2.5 - Githubissues

mhubii commented 1 year ago

Server app necessary with FRI 2.5 changes, see https://github.com/KCL-BMEIS/fri/blob/ros2-fri-1.15/server_app/LBRServer.java

@Pempafugue ?

Pempafugue commented 1 year ago

I am sorry, could not find time to work on it yet... However I think @cmower has already done it by now! Let me check with him

cmower commented 1 year ago

I did update the Java, but I haven't tested properly yet.

liver121888 commented 7 months ago

@cmower can u kindly share the FRI 2.5 version of the Server app? We are a group of students from CMU and currently working on Kuka LBR Med 7, your help will greatly boost our progress.

mhubii commented 7 months ago

hi @Pempafugue, any chance you have the server app for fri v2.5 ?

@liver121888 , may I ask you if you are using ROS or Python bindings?

We will get this sorted asap

liver121888 commented 7 months ago

hi @Pempafugue, any chance you have the server app for fri v2.5 ?

@liver121888 , may I ask you if you are using ROS or Python bindings?

We will get this sorted asap

Thank you for the prompt reply. We are using ROS binding.

mhubii commented 7 months ago

okay perfect @liver121888. We will look into this asap, but chances are this might take a week or so

Pempafugue commented 7 months ago

hi @Pempafugue, any chance you have the server app for fri v2.5 ?

@liver121888 , may I ask you if you are using ROS or Python bindings?

We will get this sorted asap

Hi ! I will make it tomorrow and try it beginning of next week

mhubii commented 7 months ago

hi @liver121888, there is now an app for FRI 2.x here https://github.com/lbr-stack/fri/blob/fri-2.5/server_app/LBRServer.java

I'll add some instructions below

mhubii commented 7 months ago

Remark: Try the below answer first: https://github.com/lbr-stack/fri/issues/8#issuecomment-1964731528

here is what to do @liver121888:

Follow the compile instructions https://github.com/lbr-stack/lbr_fri_ros2_stack?tab=readme-ov-file#quick-start
Set -DFRI_CLIENT_VERSION=2.5 during colcon build step

⚠️ Note of caution: @Pempafugue just tested it for FRI 2.5 on his Med14 and found it would vibrate. Please use the robot in T1 mode.

You can

Install the server app. Make sure to clone fri-2.5 during install LBRServer, git clone https://github.com/lbr-stack/fri.git -b fri-2.5
Run the server. Select:
- FRI send period 10ms
- IP (e.g. 172.31.1.148, this is your pc)
- FRI control mode: POSITION_CONTROL
- FRI client command mode: POSITION
On your computer, run: ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=false moveit:=true

Try to move the system slightly by dragging the ball and executing motion. If you find a vibration, please report back. In this case you might not want to use this repository. I don't have access to FRI 2.x so can unfortunately not test myself.

mhubii commented 7 months ago

⚠️ Note of caution: Use the robot in T1 mode first

actually something simpler you can try is the following @liver121888 :

Run KUKA's demo application (LBRJointSineOverlay) on the smartPAD (you might have to change the IP address in the Java application to 172.31.1.148, your PC's IP)
Terminal 1: Run ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=false controller:=forward_lbr_position_command_controller
Terminal 2: Run ros2 run lbr_demos_fri_ros2_cpp joint_sine_overlay_node

lbr-stack / fri

Server App for FRI 2.5 #8