fri

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

FRI Version	Build Status
1.11
1.14
1.15
1.16
2.5
2.7

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.