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lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html
Apache License 2.0
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Digital I/O signal activation #198

Open pala5 opened 1 month ago

pala5 commented 1 month ago

Helo @mhubii.

I have a question that came up while using your packages (lbr_frI_ros2_stack and fri). I have the LBR Iiwa 14 820R with the Sunrise.OS 1.16.1.9 (FRI 1.16), and I am working with Ubuntu 22.04 and ROS2 Humble distro.

We have installed an external digital I/O card, configurable from Sunrise.Workvisual, required to control some external devices. I have seen, that in the FRIClientSDK, for the FRI 1.16 version, in the frilLBRCommand class, there is the function setDigitalIOValue, but I did not found this functionality in this package.

I am missing something or it was not considered? Could you provide some help regarding this issue?

mhubii commented 1 month ago

Hi @pala5 , thanks for raising this issue. This is indeed missing right now

pala5 commented 1 month ago

Hi @mhubii, are you planning to work on it soon?

mhubii commented 1 month ago

well this is an important feature that should be supported. How urgent is it on your end?

pala5 commented 1 month ago

Well, I could say it is a matter of life and death.

pala5 commented 1 month ago

Hey @mhubii! Do you have time to work on that? Thanks

mhubii commented 3 weeks ago

really occupied these days :(, I will give it a quick look tomorrow, hope this get you unstuck. Genuinely sorry

pala5 commented 1 week ago

Hey @mhubii, do not worry! Thank you very much for your effort.