FRI 1.17 missing from README

[dickson-wong]

Hi, I'd like to ask is there any suggestions on how I can connect to FRI 1.17

I saw the version 1.17 in fri, and I would like to use lbr_fri_ros_stack.

Is there any way I can do it?

Thank you so much for the help

[mhubii]

Hi @dickson-wong, sorry for the late reply. Have you followed the hardware setup instructions already?

Please find documentation here: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html

Is there a particular issue you ran into?

[dickson-wong]

Thanks for the reply.

I tried to follow the instruction. However, it stuck at the step when I input
“FRI_CLIENT_VERSION=1.17”

Thanks

[dickson-wong]

I am following the instruction here:
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html

In step 2, i did the following:
source /opt/ros/humble/setup.bash
export FRI_CLIENT_VERSION=1.17
mkdir -p lbr-stack/src && cd lbr-stack

After that I run this line:
"vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml"

An error message occur as follows:
HTTP Error 404: Not Found

[mhubii]

Okay I see, the problem is the following: No one has uploaded FRI 1.17 yet: lbr-stack/fri#37.

Steps to resolve: https://github.com/lbr-stack/fri#contributing. Please let me know if you need help doing that!

[dickson-wong]

Thanks for the reply.

When I check the repo, there is already one "fri-1.17" in the branch. So it suppose to be ok when I request FRI_CLIENT_VERSION=1.17

Should I still need to create a new branch named "fri-1.17?

Thanks

[mhubii]

Yes the branch exists but the FRI is not 1.17.

You will have to

1. Fork the repository
2. Clone your fork locally
3. Checkout the fri-1.17 branch
4. Replace the zip file with your FRI
5. Add, commit, push
6. Open a pull request

[dickson-wong]

When I follow the hardware instruction, there is a problem with the line
New-Item -ItemType SymbolicLink -Path $HOME\SunriseWorkspace\lbr_fri_ros2\src\lbr_fri_ros2\LBRServer.java -Target $HOME\Downloads\fri\server_app\LBRServer.java

Error occur.

I checked both folders, and there is no "LBRServer.java" in both folder.

[SergeAlhalbi]

Hi @mhubii,

I’m interested in getting ROS2 and MoveIt2 working with our KUKA robots, and I
wanted to check two things before opening a PR:

1. Is it allowed from a licensing perspective to upload the FRI 1.17
   FRI-Client-SDK_Cpp.zip in a pull request?

2. Is FRI 1.17 intended to be supported in lbr_fri_ros2_stack? I don’t see
   it listed among the supported versions.

Thanks!

[mhubii]

Hi @SergeAlhalbi, 1.17 should already be available! Refer https://github.com/lbr-stack/fri.

The readme probably needs an update.

That said, I'd recommend working on Ubuntu 24, ROS 2 Jazzy.

[SergeAlhalbi]

Wow, that was the quickest response I’ve ever received. I see, the reason I asked is that I noticed the open issue Server for 1.17 (lbr-stack/fri#37), which mentions that the branch doesn’t actually host the correct version yet.

Thanks for the suggestion. I was trying to get several robot brands working on one Ubuntu setup as a first step. I might end up switching to the most supported version for each one separately.

[dickson-wong]

Hi @SergeAlhalbi, the fri-1.17 branch should be working.

Right now I am working on Ubuntu 22.04, ROS 2 Humble.

One thing to notice is that, in the quick start guide, when you execute the line:
vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml

There should be an error, as there is no yaml file for fri-1.17.

What I did was download the yaml file for fro-1.15, made changes, and then imported the yaml file locally.

By following the instructions in
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html

At least I can successfully finish the installation up to here:

However, I was not able to install the "LBRServer application".
As I said in the previous post, there suppose to have a file named "LBRServer.java" in the "server_app" folder.
It seems that most branches miss this folder and file.

@mhubii, is there any way to solve this problem?

[mhubii]

Yes, this is outdated @dickson-wong, sorry for that :/.

You should be able to use this server app: https://github.com/lbr-stack/fri/tree/ros2-fri-1.15/server_app or implement your own.

Since we are not KUKA, we can only test the Java app for 1.15 (our version), but it should work for 1.17.

Community support is needed! So thank you very much for contributing the 1.17 SDK already :)

[dickson-wong]

Hi @mhubii, thanks for that. Let me try to implement it next week.

Right now, I am working on Ubuntu 22.04 + ROS 2 Humble.

Or maybe I can try to do it on Ubuntu 24.04 + ROS 2 Jazzy after I make it work on Ubuntu 22.04 + ROS 2 Humble.

[dickson-wong]

Also, I see a new branch "ros2-fri-1.15" in fri.

For example, following the current instruction and if I am using fri-1.15,
When cloning the file from the server, I should be using the "fri-1.15" branch.

What's the difference between "ros2-fri-1.15" and "fri-1.15"?

By the way, @mhubii, should I also need to pull a request for "ros2-fri-1.17"?