Hi is fri is available for Noetic version if yes please update the branch here

Hey,

Thanks for the great work and step-by-step setup tutorial.
I think I'm missing something but I can't quite figure out what. When I run the application on the smart pad, FRI setups the connection with 127.0.0.1 and fails after a few seconds.

I've done the static IP on my pc and I've connected it to the KONI Eth port but that didn't seem to help.
Any ideas on how to get it to create the connection to my IP (172.31.1.148) as shown in the examples?
(I can ping the robot IP (172.31.1.147) on both Ethernet ports from my PC)

Thanks!

The repo advertises an MIT license:
https://github.com/KCL-BMEIS/fri/blob/fri-1.15/LICENSE

However, Kuka provides FRI under a custom license as listed in their docs:

The following license terms and conditions apply, unless a redistribution
agreement or other license is obtained by KUKA Roboter GmbH, Augsburg, Germany.

SCOPE

The software KUKA Sunrise.Connectivity FRI Client SDK is targeted to work in
conjunction with the KUKA Sunrise.Connectivity FastRobotInterface toolkit.
In the following, the term software refers to all material directly
belonging to the provided SDK Software development kit, particularly source
code, libraries, binaries, manuals and technical documentation.

COPYRIGHT

All Rights Reserved
Copyright (C) 2014-2019
KUKA Roboter GmbH
Augsburg, Germany

LICENSE

Redistribution and use of the software in source and binary forms, with or
without modification, are permitted provided that the following conditions are
met:
a) The software is used in conjunction with KUKA products only.
b) Redistributions of source code must retain the above copyright notice, this
list of conditions and the disclaimer.
c) Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the disclaimer in the documentation and/or other
materials provided with the distribution. Altered source code of the
redistribution must be made available upon request with the distribution.
d) Modification and contributions to the original software provided by KUKA
must be clearly marked and the authorship must be stated.
e) Neither the name of KUKA nor the trademarks owned by KUKA may be used to
endorse or promote products derived from this software without specific prior
written permission.

DISCLAIMER OF WARRANTY

The Software is provided "AS IS" and "WITH ALL FAULTS," without warranty of
any kind, including without limitation the warranties of merchantability,
fitness for a particular purpose and non-infringement.
KUKA makes no warranty that the Software is free of defects or is suitable for
any particular purpose. In no event shall KUKA be responsible for loss or
damages arising from the installation or use of the Software, including but
not limited to any indirect, punitive, special, incidental or consequential
damages of any character including, without limitation, damages for loss of
goodwill, work stoppage, computer failure or malfunction, or any and all other
commercial damages or losses.
The entire risk to the quality and performance of the Software is not borne by
KUKA. Should the Software prove defective, KUKA is not liable for the entire
cost of any service and repair.

The licensing tems in this repo needs to be clarified including mention taht third party dependencies may have other licenses, e.g. nanopb:
https://github.com/KCL-BMEIS/fri/blob/fri-1.15/third_party/nanopb/LICENSE.txt

Turn this repository into a vendor for the fri

Add FRI 1.16.

Related to #18, @BoWangFromMars

May I please ask you to target your PR against https://github.com/lbr-stack/fri/tree/fri-1.16 branch

provide a package.xml so rosdep can resolve the dependency.

Requires re-naming of FRIClient -> fri_client or similar to follow ROS convention and circumvent errors.

Mention contributors under their tag as contributors (changed zip files don't attribute contributions correctly):

#22: fredRocs
#23: peterMitrano
#18: bowangFromMars
#27: OmidRezayof
FRI 2.x testing: liver121888

Refer lbr-stack/lbr_fri_ros2_stack#181 (comment)

CMake compilation might be missing some message definitions

Add FRI 1.11.

Related to lbr-stack/fri_vendor#2, @PeterMitrano

Please create a pull request with the updated fri zip against the https://github.com/lbr-stack/fri/tree/fri-1.11 branch

Instructions can be found here https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing

Upload the .zip files somewhere else and have CMake download them

Found an additional '}' in line 57 of CMakeLists.txt
Just delete it and install works.

Reference commit:
a835939

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:

/**

DISCLAIMER OF WARRANTY

The Software is provided "AS IS" and "WITH ALL FAULTS," 
without warranty of any kind, including without limitation the warranties 
of merchantability, fitness for a particular purpose and non-infringement. 
KUKA makes no warranty that the Software is free of defects or is suitable 
for any particular purpose. In no event shall KUKA be responsible for loss 
or damages arising from the installation or use of the Software, 
including but not limited to any indirect, punitive, special, incidental 
or consequential damages of any character including, without limitation, 
damages for loss of goodwill, work stoppage, computer failure or malfunction, 
or any and all other commercial damages or losses. 
The entire risk to the quality and performance of the Software is not borne by KUKA. 
Should the Software prove defective, KUKA is not liable for the entire cost 
of any service and repair.


COPYRIGHT

All Rights Reserved
Copyright (C)  2014-2016 
KUKA Roboter GmbH
Augsburg, Germany

This material is the exclusive property of KUKA Roboter GmbH and must be returned 
to KUKA Roboter GmbH immediately upon request.  
This material and the information illustrated or contained herein may not be used, 
reproduced, stored in a retrieval system, or transmitted in whole 
or in part in any way - electronic, mechanical, photocopying, recording, 
or otherwise, without the prior written consent of KUKA Roboter GmbH.  






\file
\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?

Add windows support

Hello and thanks so far

Im trying to add my own executable working in clion:

====================[ Build | mastersAPP | Release ]============================
/home/mirko/Downloads/clion/bin/cmake/linux/x64/bin/cmake --build /home/mirko/OneDrive/codespace/fri_cmake/build --target mastersAPP -- -j 6
[ 33%] Built target FRIClient
[ 35%] Building CXX object CMakeFiles/mastersAPP.dir/masters/masters.cpp.o
[ 38%] Building CXX object CMakeFiles/mastersAPP.dir/masters/mastersclient.cpp.o
[ 41%] Building CXX object CMakeFiles/mastersAPP.dir/CMakeFiles/3.27.8/CompilerIdCXX/CMakeCXXCompilerId.cpp.o
[ 43%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/IOAccess/IOAccessApp.cpp.o
[ 46%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/IOAccess/IOAccessClient.cpp.o
[ 48%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRClientTemplate/MyLBRApp.cpp.o
[ 51%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRClientTemplate/MyLBRClient.cpp.o
[ 53%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRJointSineOverlay/LBRJointSineOverlayApp.cpp.o
[ 56%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRJointSineOverlay/LBRJointSineOverlayClient.cpp.o
[ 58%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRTorqueSineOverlay/LBRTorqueSineOverlayApp.cpp.o
[ 61%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRTorqueSineOverlay/LBRTorqueSineOverlayClient.cpp.o
[ 64%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRWrenchSineOverlay/LBRWrenchSineOverlayApp.cpp.o
[ 66%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/LBRWrenchSineOverlay/LBRWrenchSineOverlayClient.cpp.o
[ 69%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/SimulatedTransformationProvider/SimulatedTransformationProviderApp.cpp.o
[ 71%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/SimulatedTransformationProvider/SimulatedTransformationProviderClient.cpp.o
[ 74%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/TransformationProvider/TransformationProviderApp.cpp.o
[ 76%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/example/TransformationProvider/TransformationProviderClient.cpp.o
[ 79%] Building CXX object CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/src/base/friClientApplication.cpp.o
In file included from /home/mirko/OneDrive/codespace/fri_cmake/build/FRI-Client-SDK_Cpp/src/base/friClientApplication.cpp:64:
/home/mirko/OneDrive/codespace/fri_cmake/build/FRI-Client-SDK_Cpp/src/base/friClientData.h:65:10: fatal error: FRIMessages.pb.h: No such file or directory
   65 | #include "FRIMessages.pb.h"
      |          ^~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[3]: *** [CMakeFiles/mastersAPP.dir/build.make:314: CMakeFiles/mastersAPP.dir/FRI-Client-SDK_Cpp/src/base/friClientApplication.cpp.o] Error 1
gmake[3]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/Makefile2:279: CMakeFiles/mastersAPP.dir/all] Error 2
gmake[1]: *** [CMakeFiles/Makefile2:286: CMakeFiles/mastersAPP.dir/rule] Error 2

################
# build masters
################
file(GLOB_RECURSE MASTERS_SOURCES RELATIVE ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/masters *.cpp)
#file(GLOB_RECURSE MASTERS_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/masters/src *.cpp)

add_executable(mastersAPP
        ${MASTERS_SOURCES}
)

target_include_directories(mastersAPP
        PRIVATE
        ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/
        ${CMAKE_CURRENT_SOURCE_DIR}/masters/include
        # Add other include directories if needed
)

target_link_libraries(mastersAPP
        PRIVATE

        FRIClient
        #${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/FRIClient
        # Add other libraries if needed
)

➜  fri_cmake git:(fri-1.17) ✗ tree --nolinks -L 1        
.
├── build
├── CMakeLists.txt
├── FRI-Client-SDK_Cpp.zip
├── LICENSE
├── masters
└── README.md

2 directories, 4 files

Im missing something here since iam no pro in cmake.

Move legacy server side code from ros2-fri-x branches to fri-x branches. Related to #21

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 ?

TwinCAT is the software that we use to separate some CPU kernels from the Windows operating system. This allows for real time control, which is currently being supported for our haptic devices, as well as the concentric tube robots.

Therefore, the FRI must be compiled within the TwinCAT framework. To make this compatible with our CMake approach, it might be possible to alter the generator within the CMakeSettings.json, which is used by Visual Studio to read in the compiler settings.

Could you please provide the equivalent Server.app version for FRI 1.16?
Thank you very much.

Remove legacy branches, such as

• https://github.com/lbr-stack/fri/tree/dev-eld
• These might require changes to https://github.com/lbr-stack/lbr_fri_ros2_stack
  • https://github.com/lbr-stack/fri/tree/ros
  • https://github.com/lbr-stack/fri/tree/ros2-fri-1.15
  • https://github.com/lbr-stack/fri/tree/ros2-fri-2.5

These are nowadays fetched at compile time via fri_vendor https://github.com/lbr-stack/fri_vendor

Turn this repository into a vendor for the fri

There appears to be a connection issue when compiling fri-2.7 branch. The source for the error is currently unclear.

The error message can be found here: lbr-stack/lbr_fri_ros2_stack#181 (comment)

Proposed approach

Compile without cmake, simply using make:

1. Go to

cd <path_to>/FRI-Client-SDK_Cpp/build/GNUMake

2. Build

make

3. Run

cd <path_to>/FRI-Client-SDK_Cpp/example/LBRJointSineOverlay
./LBRJointSineOverlay

If you could test this @OmidRezayof, would be awesome! But don't worry.

Related documentation

Source documentation:

PDF documentation:

TODO

• Change branch 2.7 -> 3.0
• In CMake, check for 2.7, although on branch 3.0
• Update repos in https://github.com/lbr-stack/lbr_fri_ros2_stack/
• Update README here

As part of the JOSS review, openjournals/joss-reviews#6138, this repository needs to have an OSI approved license. While this repository does have a license listed, I am worried about the license issues of including the KUKA FRI SDK in this repository.

This also appears to be related to #6 and #14. Please fix this issue using at least one of the methods suggested in your existing issues.