Server App for FRI 2.5

[mhubii]

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 ?

[Pempafugue]

I am sorry, could not find time to work on it yet... However I think @cmower has already done it by now! Let me check with him

[cmower]

I did update the Java, but I haven't tested properly yet.

[liver121888]

@cmower can u kindly share the FRI 2.5 version of the Server app?
We are a group of students from CMU and currently working on Kuka LBR Med 7, your help will greatly boost our progress.

[mhubii]

hi @Pempafugue, any chance you have the server app for fri v2.5 ?

@liver121888 , may I ask you if you are using ROS or Python bindings?

We will get this sorted asap

[liver121888]

hi @Pempafugue, any chance you have the server app for fri v2.5 ?

@liver121888 , may I ask you if you are using ROS or Python bindings?

We will get this sorted asap

Thank you for the prompt reply. We are using ROS binding.

[mhubii]

okay perfect @liver121888. We will look into this asap, but chances are this might take a week or so

[Pempafugue]

hi @Pempafugue, any chance you have the server app for fri v2.5 ?

@liver121888 , may I ask you if you are using ROS or Python bindings?

We will get this sorted asap

Hi !
I will make it tomorrow and try it beginning of next week

[mhubii]

hi @liver121888, there is now an app for FRI 2.x here https://github.com/lbr-stack/fri/blob/fri-2.5/server_app/LBRServer.java

I'll add some instructions below

[mhubii]

Remark: Try the below answer first: #8 (comment)

here is what to do @liver121888:

• Follow the compile instructions https://github.com/lbr-stack/lbr_fri_ros2_stack?tab=readme-ov-file#quick-start
• Set -DFRI_CLIENT_VERSION=2.5 during colcon build step

⚠️ Note of caution: @Pempafugue just tested it for FRI 2.5 on his Med14 and found it would vibrate. Please use the robot in T1 mode.

You can

• Install the server app. Make sure to clone fri-2.5 during install LBRServer, git clone https://github.com/lbr-stack/fri.git -b fri-2.5
• Run the server. Select:
  • FRI send period 10ms
  • IP (e.g. 172.31.1.148, this is your pc)
  • FRI control mode: POSITION_CONTROL
  • FRI client command mode: POSITION
• On your computer, run: ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=false moveit:=true

Try to move the system slightly by dragging the ball and executing motion. If you find a vibration, please report back. In this case you might not want to use this repository. I don't have access to FRI 2.x so can unfortunately not test myself.

[mhubii]

⚠️ Note of caution: Use the robot in T1 mode first

actually something simpler you can try is the following @liver121888 :

• Run KUKA's demo application (LBRJointSineOverlay) on the smartPAD (you might have to change the IP address in the Java application to 172.31.1.148, your PC's IP)
• Terminal 1: Run ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=false controller:=forward_lbr_position_command_controller
• Terminal 2: Run ros2 run lbr_demos_fri_ros2_cpp joint_sine_overlay_node