├── .github └── workflows │ └── build.yaml ├── .gitignore ├── CITATION.cff ├── CMakeLists.txt ├── CODE_OF_CONDUCT.md ├── FRI-Client-SDK_Cpp.zip ├── LICENSE ├── NOTICE ├── README.md ├── friClientVersion.h.in ├── img ├── 00_extract_fri_client_sdk.png ├── 01_extract_fri_client_sdk.png └── 02_extract_fri_client_sdk.png └── package.xml /.github/workflows/build.yaml: -------------------------------------------------------------------------------- 1 | name: Build 2 | 3 | on: 4 | workflow_dispatch: 5 | push: 6 | pull_request: 7 | branches: 8 | - fri-1.15 9 | schedule: 10 | - cron: "0 0 1 * *" # monthly 11 | 12 | jobs: 13 | build: 14 | runs-on: ubuntu-latest 15 | steps: 16 | - name: Checkout 17 | uses: actions/checkout@v3 18 | - name: Configure CMake 19 | run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=Release 20 | - name: Build 21 | run: cmake --build ${{github.workspace}}/build 22 | - name: Find FRI version header 23 | uses: andstor/file-existence-action@v3 24 | with: 25 | files: ${{github.workspace}}/build/FRI-Client-SDK_Cpp/include/friVersion.h 26 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | ### build 2 | build 3 | install 4 | -------------------------------------------------------------------------------- /CITATION.cff: -------------------------------------------------------------------------------- 1 | cff-version: 1.2.0 2 | message: "If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support." 3 | authors: 4 | - family-names: Huber 5 | given-names: Martin 6 | orcid: https://orcid.org/0000-0003-4603-6773 7 | - family-names: Mower 8 | given-names: Christopher E. 9 | orcid: https://orcid.org/0000-0002-3929-9391 10 | - family-names: Ourselin 11 | given-names: Sebastien 12 | orcid: https://orcid.org/0000-0002-5694-5340 13 | - family-names: Vercauteren 14 | given-names: Tom 15 | orcid: https://orcid.org/0000-0003-1794-0456 16 | - family-names: Bergeles 17 | given-names: Christos 18 | orcid: https://orcid.org/0000-0002-9152-3194 19 | 20 | 21 | title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots" 22 | version: 1.4.2 23 | doi: 10.48550/arXiv.2311.12709 24 | date-released: 2023-12-29 25 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | #################################################################### 2 | # cmake support for KUKA's Fast Robot Interface (FRI) client library 3 | #################################################################### 4 | cmake_minimum_required(VERSION 3.18) 5 | 6 | project(FRIClient VERSION 1.0.0 7 | DESCRIPTION "KUKA's Fast Robot Interface client library." 8 | LANGUAGES C CXX) 9 | 10 | if(NOT CMAKE_BUILD_TYPE) 11 | set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type." FORCE) 12 | endif() 13 | 14 | if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang") 15 | # Disable specific warnings (we cannot change these, KUKA has to fix them in their SDK) 16 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-format-security -Wno-parentheses") 17 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format-security -Wno-parentheses") 18 | endif() 19 | 20 | ###################### 21 | # variable definitions 22 | ###################### 23 | set(FRIClient_SDK_NAME "FRI-Client-SDK_Cpp") 24 | option(BUILD_FRI_APPS "Build FRIClient example applications" OFF) 25 | 26 | ######################################### 27 | # extract the FRIClient from the zip file 28 | ######################################### 29 | file(ARCHIVE_EXTRACT 30 | INPUT ${CMAKE_CURRENT_SOURCE_DIR}/${FRIClient_SDK_NAME}.zip 31 | DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME} 32 | ) 33 | 34 | ####################### 35 | # find library versions 36 | ####################### 37 | # try to find nanopb version 38 | file(GLOB NANOPB_HEADER_PATH ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/nanopb-*/pb.h) 39 | file(READ ${NANOPB_HEADER_PATH} NANOPB_HEADER) 40 | string(REGEX MATCH "NANOPB_VERSION nanopb-([0-9]*).([0-9]*).([0-9]*)" _ ${NANOPB_HEADER}) 41 | 42 | set(NANOPB_VERSION_MAJOR ${CMAKE_MATCH_1}) 43 | set(NANOPB_VERSION_MINOR ${CMAKE_MATCH_2}) 44 | set(NANOPB_VERSION_PATCH ${CMAKE_MATCH_3}) 45 | set(NANOPB_VERSION ${NANOPB_VERSION_MAJOR}.${NANOPB_VERSION_MINOR}.${NANOPB_VERSION_PATCH}) 46 | 47 | message("Found nanopb of version: " ${NANOPB_VERSION}) 48 | 49 | # #13: Windows support 50 | # if (MSVC) 51 | # set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) 52 | # endif() 53 | 54 | # try to find FRIClient version 55 | file(READ ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/include/friClientIf.h FRI_CLIENT_IF_HEADER) 56 | string(REGEX MATCH "version \\{([0-9]+)\\.([0-9]+)" _ ${FRI_CLIENT_IF_HEADER}) 57 | 58 | set(FRI_CLIENT_VERSION_MAJOR ${CMAKE_MATCH_1}) 59 | set(FRI_CLIENT_VERSION_MINOR ${CMAKE_MATCH_2}) 60 | set(FRI_CLIENT_VERSION ${FRI_CLIENT_VERSION_MAJOR}.${FRI_CLIENT_VERSION_MINOR}) 61 | 62 | if (NOT FRI_CLIENT_VERSION STREQUAL "1.15") 63 | message(FATAL_ERROR "Expected FRIClient version 1.15, found: " ${FRI_CLIENT_VERSION}) 64 | endif() 65 | 66 | message("Found FRIClient of version: " ${FRI_CLIENT_VERSION}) 67 | 68 | # create version header 69 | configure_file( 70 | ${CMAKE_CURRENT_SOURCE_DIR}/friClientVersion.h.in ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/include/friClientVersion.h 71 | ) 72 | 73 | ################################# 74 | # define FRIClient library target 75 | ################################# 76 | message(STATUS "Configuring FRIClient version ${FRI_CLIENT_VERSION}") 77 | file(GLOB_RECURSE NANOPB_SOURCES RELATIVE ${CMAKE_CURRENT_BINARY_DIR} 78 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/nanopb-${NANOPB_VERSION}/*.c 79 | ) 80 | 81 | file(GLOB_RECURSE FRI_SOURCES RELATIVE ${CMAKE_CURRENT_BINARY_DIR} 82 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/base/*.cpp 83 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/client_lbr/*.cpp 84 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/client_trafo/*.cpp 85 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/connection/*.cpp 86 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/protobuf/*.cpp 87 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/protobuf/*.c 88 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/protobuf_gen/*.pb.c 89 | ) 90 | 91 | add_library(FRIClient SHARED 92 | ${FRI_SOURCES} 93 | ${NANOPB_SOURCES} 94 | ) 95 | 96 | add_library(FRIClient::FRIClient ALIAS FRIClient) # alias for anyone adding this as a submodule 97 | 98 | target_include_directories(FRIClient 99 | PUBLIC 100 | $ 101 | $ 102 | PRIVATE 103 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/base 104 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/nanopb-${NANOPB_VERSION} 105 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/protobuf_gen 106 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/src/protobuf 107 | ) 108 | 109 | if(MSVC) 110 | target_compile_options(FRIClient 111 | PRIVATE 112 | -DPB_SYSTEM_HEADER="pb_syshdr_win.h" 113 | -DPB_FIELD_16BIT 114 | -DWIN32 115 | -DHAVE_STDINT_H 116 | -DHAVE_STDBOOL_H 117 | ) 118 | else() 119 | target_compile_options(FRIClient 120 | PRIVATE 121 | -Wall 122 | -O2 123 | -DHAVE_SOCKLEN_T 124 | -DPB_SYSTEM_HEADER="pb_syshdr.h" 125 | -DPB_FIELD_16BIT 126 | -DHAVE_STDINT_H 127 | -DHAVE_STDDEF_H 128 | -DHAVE_STDBOOL_H 129 | -DHAVE_STDLIB_H 130 | -DHAVE_STRING_H 131 | ) 132 | endif() 133 | 134 | ################# 135 | # install targets 136 | ################# 137 | include(CMakePackageConfigHelpers) 138 | 139 | write_basic_package_version_file( 140 | "${CMAKE_CURRENT_BINARY_DIR}/FRIClientConfigVersion.cmake" 141 | VERSION ${FRI_CLIENT_VERSION} 142 | COMPATIBILITY SameMajorVersion 143 | ) 144 | 145 | install(TARGETS FRIClient 146 | EXPORT FRIClientTargets 147 | LIBRARY DESTINATION lib 148 | INCLUDES DESTINATION include 149 | ) 150 | 151 | install( 152 | DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/include/ 153 | DESTINATION include 154 | ) 155 | 156 | install(EXPORT FRIClientTargets 157 | FILE FRIClientConfig.cmake 158 | NAMESPACE FRIClient:: 159 | DESTINATION lib/cmake/FRIClient 160 | ) 161 | 162 | install(FILES ${CMAKE_CURRENT_BINARY_DIR}/FRIClientConfigVersion.cmake 163 | DESTINATION lib/cmake/FRIClient 164 | ) 165 | 166 | ################ 167 | # build examples 168 | ################ 169 | if (BUILD_FRI_APPS) 170 | function(build_fri_example NAME) 171 | file(GLOB_RECURSE ${NAME}_SOURCES RELATIVE ${CMAKE_CURRENT_BINARY_DIR} 172 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/example/${NAME}/*.cpp 173 | ) 174 | 175 | add_executable(${NAME}App 176 | ${${NAME}_SOURCES} 177 | ) 178 | 179 | target_include_directories(${NAME}App 180 | PRIVATE 181 | ${CMAKE_CURRENT_BINARY_DIR}/${FRIClient_SDK_NAME}/example/${NAME} 182 | ) 183 | 184 | target_link_libraries(${NAME}App 185 | PRIVATE 186 | FRIClient 187 | ) 188 | endfunction() 189 | 190 | build_fri_example(IOAccess) 191 | build_fri_example(LBRJointSineOverlay) 192 | build_fri_example(LBRTorqueSineOverlay) 193 | build_fri_example(LBRWrenchSineOverlay) 194 | build_fri_example(SimulatedTransformationProvider) 195 | build_fri_example(TransformationProvider) 196 | endif(BUILD_FRI_APPS) 197 | -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | # Contributor Covenant Code of Conduct 2 | 3 | ## Our Pledge 4 | 5 | We as members, contributors, and leaders pledge to make participation in our 6 | community a harassment-free experience for everyone, regardless of age, body 7 | size, visible or invisible disability, ethnicity, sex characteristics, gender 8 | identity and expression, level of experience, education, socio-economic status, 9 | nationality, personal appearance, race, religion, or sexual identity 10 | and orientation. 11 | 12 | We pledge to act and interact in ways that contribute to an open, welcoming, 13 | diverse, inclusive, and healthy community. 14 | 15 | ## Our Standards 16 | 17 | Examples of behavior that contributes to a positive environment for our 18 | community include: 19 | 20 | * Demonstrating empathy and kindness toward other people 21 | * Being respectful of differing opinions, viewpoints, and experiences 22 | * Giving and gracefully accepting constructive feedback 23 | * Accepting responsibility and apologizing to those affected by our mistakes, 24 | and learning from the experience 25 | * Focusing on what is best not just for us as individuals, but for the 26 | overall community 27 | 28 | Examples of unacceptable behavior include: 29 | 30 | * The use of sexualized language or imagery, and sexual attention or 31 | advances of any kind 32 | * Trolling, insulting or derogatory comments, and personal or political attacks 33 | * Public or private harassment 34 | * Publishing others' private information, such as a physical or email 35 | address, without their explicit permission 36 | * Other conduct which could reasonably be considered inappropriate in a 37 | professional setting 38 | 39 | ## Enforcement Responsibilities 40 | 41 | Community leaders are responsible for clarifying and enforcing our standards of 42 | acceptable behavior and will take appropriate and fair corrective action in 43 | response to any behavior that they deem inappropriate, threatening, offensive, 44 | or harmful. 45 | 46 | Community leaders have the right and responsibility to remove, edit, or reject 47 | comments, commits, code, wiki edits, issues, and other contributions that are 48 | not aligned to this Code of Conduct, and will communicate reasons for moderation 49 | decisions when appropriate. 50 | 51 | ## Scope 52 | 53 | This Code of Conduct applies within all community spaces, and also applies when 54 | an individual is officially representing the community in public spaces. 55 | Examples of representing our community include using an official e-mail address, 56 | posting via an official social media account, or acting as an appointed 57 | representative at an online or offline event. 58 | 59 | ## Enforcement 60 | 61 | Instances of abusive, harassing, or otherwise unacceptable behavior may be 62 | reported to the community leaders responsible for enforcement at 63 | https://github.com/lbr-stack/fri/issues. 64 | All complaints will be reviewed and investigated promptly and fairly. 65 | 66 | All community leaders are obligated to respect the privacy and security of the 67 | reporter of any incident. 68 | 69 | ## Enforcement Guidelines 70 | 71 | Community leaders will follow these Community Impact Guidelines in determining 72 | the consequences for any action they deem in violation of this Code of Conduct: 73 | 74 | ### 1. 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Permanent Ban 107 | 108 | **Community Impact**: Demonstrating a pattern of violation of community 109 | standards, including sustained inappropriate behavior, harassment of an 110 | individual, or aggression toward or disparagement of classes of individuals. 111 | 112 | **Consequence**: A permanent ban from any sort of public interaction within 113 | the community. 114 | 115 | ## Attribution 116 | 117 | This Code of Conduct is adapted from the [Contributor Covenant][homepage], 118 | version 2.0, available at 119 | https://www.contributor-covenant.org/version/2/0/code_of_conduct.html. 120 | 121 | Community Impact Guidelines were inspired by [Mozilla's code of conduct 122 | enforcement ladder](https://github.com/mozilla/diversity). 123 | 124 | [homepage]: https://www.contributor-covenant.org 125 | 126 | For answers to common questions about this code of conduct, see the FAQ at 127 | https://www.contributor-covenant.org/faq. Translations are available at 128 | https://www.contributor-covenant.org/translations. 129 | -------------------------------------------------------------------------------- /FRI-Client-SDK_Cpp.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lbr-stack/fri/581194240a7e05bb2bc4d613ab59e450c3a2291b/FRI-Client-SDK_Cpp.zip -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /NOTICE: -------------------------------------------------------------------------------- 1 | ===================================== 2 | Third party software 3 | ===================================== 4 | Software under FRI-Client-SDK_Cpp.zip 5 | is third party software. It is provideded 6 | by KUKA. It contains: 7 | 8 | - fri: Their custom license notice is included, as per condition. It can be re-distributed provided the license notice 9 | is included. 10 | - nanopb: A library that KUKA uses for the fri. 11 | nanopb is distributed under zlib license Copyright (c) 2011 Petteri Aimonen 12 | ===================================== 13 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # fri 2 | This folder adds CMake support to KUKA's Fast Robot Interface (FRI). 3 | 4 | | FRI Version | Build Status | 5 | | ----------- | ------------ | 6 | | `1.11` | [![Build status](https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-1.11)](https://github.com/lbr-stack/fri/actions/workflows/build.yaml) | 7 | | `1.14` | [![Build status](https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-1.14)](https://github.com/lbr-stack/fri/actions/workflows/build.yaml) | 8 | | `1.15` | [![Build status](https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-1.15)](https://github.com/lbr-stack/fri/actions/workflows/build.yaml) | 9 | | `1.16` | [![Build status](https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-1.16)](https://github.com/lbr-stack/fri/actions/workflows/build.yaml) | 10 | | `2.5` | [![Build status](https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-2.5)](https://github.com/lbr-stack/fri/actions/workflows/build.yaml) | 11 | | `2.7` | [![Build status](https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-2.7)](https://github.com/lbr-stack/fri/actions/workflows/build.yaml) | 12 | 13 | ## Build 14 | To build, run 15 | 16 | ```shell 17 | cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_FRI_APPS=ON 18 | cmake --build build 19 | ``` 20 | 21 | ## Run the Apps 22 | To run the example applications, run 23 | 24 | ```shell 25 | ./build/LBRJointSineOverlayApp 26 | ``` 27 | 28 | On the `smartPAD`, run the `LBRJointSineOverlay` application. You should see the robot execute a sine wave. 29 | 30 | ## Contributing 31 | Do you use a different FRI version? 32 | 33 | 1. Fork this repository. 34 | 2. Replace `FRI-Client-SDK_Cpp.zip` with your client SDK as extracted from `KUKA Sunrise Workbench`. Therefore (see images): 35 | * In the `Software` tab of `StationSetup.cat`, add `Fast Robot Interface Extension`. 36 | * Save via `ctrl+s`, click `Save and apply`. 37 | * Under `FastRobotInterface_Client_Source`, find `FRI-Client-SDK_Cpp.zip`. 38 | 39 |
40 |

41 |
42 |
43 | 44 | 3. Open an issue and ask for a branch named fri-major.minor (e.g. fri-1.15). 45 | 4. Open a pull request against this new branch. 46 | 47 | ## License 48 | 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](https://github.com/lbr-stack/fri/blob/fri-1.15/NOTICE). 49 | -------------------------------------------------------------------------------- /friClientVersion.h.in: -------------------------------------------------------------------------------- 1 | #ifndef FRI_CLIENT_VERSION_H 2 | #define FRI_CLIENT_VERSION_H 3 | 4 | #define FRI_CLIENT_VERSION_MAJOR @FRI_CLIENT_VERSION_MAJOR@ 5 | #define FRI_CLIENT_VERSION_MINOR @FRI_CLIENT_VERSION_MINOR@ 6 | 7 | #endif // FRI_CLIENT_VERSION_H 8 | -------------------------------------------------------------------------------- /img/00_extract_fri_client_sdk.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lbr-stack/fri/581194240a7e05bb2bc4d613ab59e450c3a2291b/img/00_extract_fri_client_sdk.png -------------------------------------------------------------------------------- /img/01_extract_fri_client_sdk.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lbr-stack/fri/581194240a7e05bb2bc4d613ab59e450c3a2291b/img/01_extract_fri_client_sdk.png -------------------------------------------------------------------------------- /img/02_extract_fri_client_sdk.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lbr-stack/fri/581194240a7e05bb2bc4d613ab59e450c3a2291b/img/02_extract_fri_client_sdk.png -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | fri_client_sdk 5 | 2.0.0 6 | CMake support for KUKA's FRI. 7 | bowangFromMars 8 | fredRocs 9 | liver121888 10 | peterMitrano 11 | mhubii 12 | OmidRezayof 13 | 14 | Apache-2.0 15 | 16 | 17 | cmake 18 | 19 | --------------------------------------------------------------------------------