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lbr-stack / fri

CMake support for KUKA's FRI Client SDK
Apache License 2.0
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fri

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

FRI Version Build Status
1.11 Build status
1.14 Build status
1.15 Build status
1.16 Build status
2.5 Build status
2.7 Build status

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. 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.

  3. Open an issue and ask for a branch named fri-major.minor (e.g. fri-1.15).

  4. Open a pull request against this new branch.

License

Please note that we distribute the CMake support under Apache-2.0 license. Please note that third party libraries under FRI-Client-SDK_Cpp.zip are distributed under their respective license. See NOTICE.