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Last pushed: 5 months ago
Short Description
Docker image for autharl_fri
Full Description

Fast Research Interface Wrapper

Wrapper for communication with Kuka LWR4+
using a custom version of Standfords' Fast Research Interface Library



  1. FRILibrary

    Clone & build the FRILibrary package. [Instructions]

    git clone
    cd FRILibrary
  2. AUTH ARL Core Library

    Clone autharl_core package in ROS Workspace src directory

     git clone
  3. Fril Wrapper

    Clone fril_wrapper package in ROS Workspace src directory

     git clone
  4. Build

    Switch to ROS Workspace root directory & build



In order to visualize the robot in rviz you can launch the following file:

roslaunch lwr_description rviz.launch

The launch file also provides the option to visualize the tool in use. Currently the package supports the "handle" tool:

roslaunch lwr_description rviz.launch tool:=handle
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