ICube-Robotics/iiwa_ros2

Sunrise Connectivity.FRI version?

dmronga opened this issue · 2 comments

dmronga commented

Dear maintainers, I was wondering if you could document the FRI version used to test the ROS2 stack. I am using Sunrise Connectivity 1.7 and it seems to be incompatible. What is the minimum FRI / Connectivity version required?
Best regards

Odin-byte commented

Did you find the error or the correct version of FRI?

Because I might have stumbled across the same issue as I can not connect to the UDP server or even ping the robot, while all addresses are set up according to the README.

dmronga commented

Sorry for the late reply, the driver works for me with Connectivity 1.7. Previously, I did not have connection problems, but rather compilation errors. I had to rename some imported Java modules in iiwa_ros2.java, e.g.,
import com.kuka.connectivity.fastRobotInterface.FRIChannelInformation;

rename to

import com.kuka.connectivity.fri.FRIChannelInformation;

and do some minor code changes.