FRI-Client-SDK_Cpp

This repo contains the FRI client SDK provided by KUKA for LBR models. A cmake alternative for building the client and examples is provided to easily integrate it into other projects.

To browse the source code for the FRI-Client-SDK_Cpp_v*.zip files, see the other branches of this repository.

Important notice

THIS IS NOT A KUKA PRODUCT.

@cmower is not affiliated with KUKA.

The two zip files

• FRI-Client-SDK_Cpp_v1.15.zip
• FRI-Client-SDK_Cpp_v2.5.zip

are as provided by KUKA with LRB robots (both originally named FRI-Client-SDK_Cpp.zip). The code contained in each zip file is unchanged.

When using the CMake build option (see instructions below), a file called fri_config.h is generated and copied to the unzipped fri/include/ directory so it is publically available. This does not affect the code provided by KUKA in any way, it is simply there to specify a MACRO called FRI_VERSION which is used to indicate the version of FRI being built.

Support

The following versions of FRI are currently supported:

• 1.15
• 2.5

If you have a different version, please consider forking and submitting a pull request.

Build

There are several options for building. You can either use the options provided by KUKA or the CMakeLists.txt provided here.

Building using methods provided by KUKA

Unzip the FRI client SDK, and follow the instructions in the Readme.txt file.

Use CMake

Note, you do not need to unzip the .zip file (this is done automatically).

1. Clone repo:
   • (ssh) $ git clone [email protected]:cmower/FRI-Client-SDK_Cpp.git
   • (https) $ git clone https://github.com/cmower/FRI-Client-SDK_Cpp.git
2. Change directory: $ cd FRI-Client-SDK_Cpp
3. Create a build directory: $ mkdir build
4. Change directory: $ cd build
5. Run cmake: $ cmake -DFRI_VERSION=[VER] ..
   • You must specify the FRI version that you want to build. See the "Support" section above for supported versions.
   • Note, optionally you can build the examples by using the flag cmake -DFRI_BUILD_EXAMPLES=[ON/OFF] ... Default is ON.
6. Build: $ cmake --build .

The build directory now contains the built library libFRIClient.a and if -DFRI_BUILD_EXAMPLES=ON also the example executables.

Usage

Java application

A flexible Java application is provided here. This must be installed on the KUKA Sunrise controller.