first commit

.gitattributes

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+*.jar filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.blend filter=lfs diff=lfs merge=lfs -text

.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    container: moveit/moveit:noetic-release
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Setup ROS workspace and dependencies
+        run: |
+          mkdir src
+          ls --almost-all --ignore .catkin_tools --ignore build --ignore devel --ignore src | xargs mv -t src
+          git clone --depth 1 https://YOUR_GITHUB_TOKEN@github.com/YOUR_USERNAME/ros-devcontainer.git /ros_devcontainer
+          cd /ros_devcontainer &;&; ls --almost-all | xargs mv -n -t ${GITHUB_WORKSPACE} &;&; cd ${GITHUB_WORKSPACE}
+          sed -i 's/https:\/\/git-ce\./https:\/\/YOUR_GITHUB_TOKEN\@github.com\//g' src/.rosinstall
+          wstool update -t src
+          . .devcontainer/postCreate.sh
+
+  build:
+    needs: setup
+    runs-on: ubuntu-latest
+    container: moveit/moveit:noetic-release
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      # Reuse the setup job's workspace state by caching it.
+      - name: Cache catkin workspace directories
+        uses: actions/cache@v2
+        with:
+          path: |
+            .catkin_tools
+            build 
+            devel
+          key: ${{ runner.os }}-build-${{ github.sha }}
+
+      # Run the actual build commands.
+      - name: Build with catkin tools
+        run: catkin build --summarize --no-status --force-color
+
+      # Upload artifacts (if needed)
+      # Note that GitHub Actions handles artifacts differently than GitLab CI.
+      # You may need to add additional steps here to upload and store artifacts.
+
+  linting_and_tests:
+    needs: build
+    runs-on: ubuntu-latest
+    container: moveit/moveit:noetic-release
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      # Reuse the previous job's workspace state by caching it.
+      - name: Cache catkin workspace directories
+        uses: actions/cache@v2
+        with:
+          path: |
+            .catkin_tools 
+            build 
+            devel
+          key: ${{ runner.os }}-build-${{ github.sha }}
+
+        # Source the setup.bash script before running tests.
+      - name: Source setup.bash and run catkin_lint
+        run: |
+          source devel/setup.bash  
+          catkin_lint -W2 --pkg lbrmed_bringup —pkg lbrmed_control —pkg lbrmed_description —pkg lbrmed_hw_fri —pkg lbrmed_moveit_config —pkg lbrmed_msgs
+
+        # Run catkin tests.
+      - name: Run Catkin Tests
+        run: |
+          source devel/setup.bash  
+          catkin test –no-deps lbrmed_bringup lbrmed_control lbrmed_description lbrmed_hw_fri lbrmed_moveit_config lbrmed_msgs

.gitignore

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+.vscode

.gitlab-ci.yml

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+stages:
+  - build
+  - test
+  - release
+
+default:
+  before_script:
+    # move this repo to src of catkin workspace, .catkin_tools, build and devel spaces are passed as artifacts - do not move!
+    - mkdir src
+    - ls --almost-all --ignore .catkin_tools --ignore build --ignore devel --ignore src | xargs mv -t src
+    # setup the workspace as ROS Devcontainer
+    - git clone --depth 1 https://gitlab-ci-token:${CI_JOB_TOKEN}@git-ce.rwth-aachen.de/g-med-irt-robotik/ros-devcontainer.git /ros_devcontainer
+    - cd /ros_devcontainer && ls --almost-all | xargs mv -n -t ${CI_PROJECT_DIR} && cd ${CI_PROJECT_DIR}
+    # configure gitlab token before cloning dependencies
+    - sed -i 's/https:\/\/git-ce\./https:\/\/gitlab-ci-token:\$\{CI_JOB_TOKEN\}\@git-ce\./g' src/.rosinstall
+    - wstool update -t src
+    # load remaining dependencies and setup catkin config
+    - . .devcontainer/postCreate.sh
+
+  cache:
+    # Good practice
+    key: ${CI_COMMIT_REF_SLUG}
+    # Caching might improve CI speed
+    paths:
+      - .catkin_tools
+      - build
+      - devel
+  image: $CI_REGISTRY/g-med-irt-robotik/ros-devcontainer/master:noetic-moveit
+
+catkin_tools_build:
+  stage: build
+  script:
+    - catkin build --summarize --no-status --force-color
+  artifacts:
+    name: "$CI_JOB_NAME"
+    paths:
+      - .catkin_tools
+      - build
+      - devel
+
+catkin_lint:
+  stage: test
+  script:
+    - source devel/setup.bash
+    - catkin_lint -W2 --pkg lbrmed_bringup --pkg lbrmed_control --pkg lbrmed_description --pkg lbrmed_hw_fri --pkg lbrmed_moveit_config --pkg lbrmed_msgs
+
+catkin_tools_run_tests:
+  stage: test
+  script:
+    - source devel/setup.bash
+    - catkin test --no-deps lbrmed_bringup lbrmed_control lbrmed_description lbrmed_hw_fri lbrmed_moveit_config lbrmed_msgs

.rosinstall

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+- git:
+    local-name: cartesian_controllers
+    uri: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
+    version: ros1
+- git:
+    local-name: ros_control_boilerplate
+    uri: https://github.com/Tuebel/ros_control_boilerplate.git
+    version: combined_robot_hw_draft

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2020, Institute of Automatic Control - RWTH Aachen University
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# KUKA LBR MED STACK
+ROS package for the Kuka LBR MED R820 (14kg)
+We support
+- commanding the robot hardware via the KUKA FRI interface and `ros_control`.
+- kinematic simulations, Gazebo was never stable enough for contact rich tasks.
+- MoveIt support for the hardware and simulation.
+
+- A kinematic simulation environment and the robot hardware.
+However, contact forces tend to be unstable.
+
+Please look at the READMEs in the specific hardware packages.
+**When using the real robot, always keep a safe distance and set up your safety configuration as required**.
+
+# Install
+## Create a catkin workspace
+* Create a catkin workspace folder (e.g. ~/catkin_workspace)
+* Create a src folder in that workspace (e.g. ~/catkin_workspace/src)
+* Initialize the catkin workspace (e.g. `cd ~/catkin_workspace && catkin init`)
+
+## Cloning the repository
+We use [`git-lfs`](https://packagecloud.io/github/git-lfs/install) which should be installed before cloning.
+Otherwise, you might get errors when the STL files of the robot or the jar files are being loaded.
+
+For the Sunrise Project you have two ways to proceed:
+* (a) Clone the repository into the src folder of the catkin workspace
+* (b) (preferable) Clone the repository into a separate folder (e.g. ~/git-repos) and symlink it (e.g. `ln -s ~/git-repos/kuka_MED_Stack ~/catkin_workspace/src`, the target of the symlink must be an absolute path) 
+
+## Installing Dependencies
+In the catkin workspace, run the following commands to install all workspace and system dependencies.
+```bash
+wstool init src
+wstool merge -t src src/lbrmed-stack/.rosinstall
+wstool update -t src
+rosdep install --from-paths src --ignore-src -r -y
+``` 
+
+## Building the workspace
+To build the packages in parallel, we use the [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/installing.html). After installing them, run:
+```bash
+cd ~/catkin_workspace
+catkin build
+```
+
+# LBR MED Stack - Package Organization
+*Reference: https://roboticsbackend.com/package-organization-for-a-ros-stack-best-practices/#Simulation_with_Gazebo*
+
+* lbrmed: Metapackage (optional)
+* [lbrmed_bringup](./lbrmed_bringup): Main entry point launch files for this robot application, including Parameters and Configuration files. Good starting point to setup your own robot.
+* [lbrmed_control](./lbrmed_control): Custom controllers for the LBR Med, e.g., a kind of admittance controller and integration of the FZI cartesian controllers.
+* [lbrmed_description](./lbrmed_description): All files that are necessary for visualization (URDFs, Meshes, test launch files, ...)
+* [lbrmed_hw_fri](./lbrmed_hw_fri/) (recommended): Implements the `hardware_interface::RobotHW` which can be used by ROS control using the FRI real-time interface.
+* [lbrmed_moveit_config](./lbrmed_moveit_config): Default MoveIt configuration for without an end-effector, created with the MoveIt wizard.
+* [lbrmed_msgs](./lbrmed_msgs): All custom messages, services and actions for this robot
+* [lbrmed_ros_java](./lbrmed_ros_java): Transfer this code to the robot via the Sunrise Workbench. Add your own station setup and safety configuration!

fri/LICENSE

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+MIT License
+
+Copyright (c) 2021 Martin Huber
+Copyright (c) 2022 Institute of Automatic Control - RWTH Aachen University
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

fri/README.md

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+Based on https://github.com/lbr-stack/fri
+
+# Fast Robot Interface
+The Fast Robot Interface (FRI) library allows for hard real time communication to the KUKA LBR Med, see KUKA's [paper](http://www.best-of-robotics.org/pages/publications/KUKA_FRI_from_WS_Proceedings_ICRA2010.pdf). This folder contains the C++ client side library to setup the UDP connection to the LBR Med. However, hard real time is only supported if the FRI is compiled on a real time OS.
+## Build and Installation
+Other than what KUKA provides, our FRI comes with CMake support. This allows for cross-platform compatability, therefore, the [Cross Platform Build and Installation](#cross-platform-build-and-installation) instructions are the same for Linux and Windows. However, the prerequisites are differntly obtained. How to obtain the prerequisites is explained in [Linux Prerequisites](#linux-prerequisites) and [Windows Prerequisites](#windows-prerequisites), respectively.
+### Linux Prerequisites
+Skip any of these if already satisfied.
+* Install Git. In a terminal, run `sudo apt install git`
+* Install CMake. In a terminal, run `sudo apt install cmake`
+### Windows Prerequisites
+Skip any of these if already satisfied.
+  * Install the new Windows Terminal. Search for `Microsoft Store` in Start and open it. Therein, search for `Windows Terminal`, and install it
+  * Install Chocolatey by following the [instructions](https://chocolatey.org/install)
+  * Install Git. In an administrative Windows Terminal, run `choco install git`.
+  * Install CMake. In an administrative Windows Terminal, run `choco install cmake`. Add CMake to your Path. Therefore, search for `Edit the system environment variables` in Start, and open it. Open `Environment Variables...`, and double click on `Path` under System variables. Click on `New`, and add `C:\Program Files\CMake\bin` (usually CMake is installed there, might differ)
+### Cross Platform Build and Installation
+Clone this repository
+```shell
+git clone https://github.com/KCL-BMEIS/FastRobotInterface.git
+```
+Build and install the FRI library
+```shell
+cd FastRobotInterface
+mkdir build
+cd build
+cmake ..
+cmake --build . --config Release --target install # builds and installs the FRI library in Release mode
+```
+## Usage
+The FRI comes with [example apps](#example-apps). These apps require some [prerequisites](#prerequisites) that are explained below.
+### Prerequisites
+Follow the [Build and Installation](#build-and-installation) instructions for your OS. Install [Sunrise Workbench](#sunrise-workbench) on your computer. This step requires Windows as OS.
+#### Sunrise Workbench
+Sunrise Workbench is KUKA's Java IDE that allows you to program the LBR Med. 
+* Download it from the [RViM shared folder](https://emckclac.sharepoint.com/:u:/s/MT-BMEIS-RVIM/ETBf6gp3Ko5EvtJVziR8MZ4BLdeX8ysF13jTVmVreq0iZA?e=XJyagD) 
+* Extract the .zip file and run the Sunrise Workbench Setup
+* Follow the install instructions
+### Example Apps
+Exemplary applications for the C++ client side are located inside the [apps](https://github.com/KCL-BMEIS/FastRobotInterface/tree/master/apps) folder. Each of these apps has a Java equivalent for the server side.
+#### Connect Laptop
+* Connect your laptop, therefore, establish an Ethernet connection to connector X66 at the KUKA controller
+* The KUKA controller's default IP is 172.31.1.147. Configure the same network on your laptop, therefore
+  * On Windows
+    * Search for `View network connections` in Start and open it
+    * Right click on the Ethernet connection and open `Properties`
+    * Double click Internet Protocol Version 4 (TCP/IPv4) and set the IP address to `172.31.1.148` and the Subnet mask to `255.255.0.0`
+  * On Ubuntu 16 (might differ for other Linux distributions)
+    * Search for `System Settings` and open it
+    * Go to Network -> Wired -> Options
+    * Go to the IPv4 Settings tab and set the IP address to `172.31.1.148` and the Netmask to `255.255.0.0` 
+#### Server Side - KUKA Controller
+You will have to follow the instructions in [Connect Laptop](#connect-laptop). The FRI has to be installed on the controller. Therefore, the [Sunrise Workbench](#sunrise-workbench) IDE is used. 
+* Open the Sunrise Workbench
+* Create a new project, therefore 
+  * Click File -> New -> Sunrise project
+  * Leave the default IP (172.31.1.147) and click Next
+  * Give your project a name, e.g. FRI and click Next
+  * Select LBR Med 7 R800 and click Next
+  * Under Media Flange, select Medien-Flansch Inside elektrisch, and click Next
+  * Click Finish (might take some time). Select RoboticsAPI Application, and press Next
+  * Click Finish
+* Setup the KUKA controller, therefore
+  * Double click the StationSetup.cat under FRI in the Package Explorer and add the LBR Med 7 R800 to the Topolgy (below left)
+  * Remove the LBR_Med_7_R800_2, which has no Media Flange, and which we are not using (below right)
+    <figure>
+      <p align="center"><img src="img/sunrise_workbench_fri_topology_highlighted.png" width="45%" height="45%" hspace="20"><img src="img/sunrise_workbench_fri_topology_remove_2_highlighted.png" width="45%" height="45%" hspace="20"></p>
+      <figcaption></figcaption>
+    </figure>
+  * In the Software tab, make sure that the checker boxes for the FRI extensions are selected (below left) 
+  * In the Configurations tab, make sure that the IP is set to 172.31.1.147 (below right)
+  * Save the StationSetup.cat via `Ctrl + s`
+    <figure>
+      <p align="center"><img src="img/sunrise_workbench_fri_software_highlighted.png" width="45%" height="45%" hspace="20"><img src="img/sunrise_workbench_fri_configuration_highlighted.png" width="45%" height="45%" hspace="20"></p>
+      <figcaption></figcaption>
+    </figure>
+  * In the Installation tab, click Install (below left)
+  * Synchronize your project with the KUKA controller (below right)
+    <figure>
+      <p align="center"><img src="img/sunrise_workbench_fri_installation_highlighted.png" width="45%" height="45%" hspace="20"><img src="img/sunrise_workbench_fri_synchronize_highlighted.png" width="45%" height="45%" hspace="20"></p>
+      <figcaption></figcaption>
+    </figure>
+#### Client Side - Laptop
+You will have to follow the instructions in [Connect Laptop](#connect-laptop), and make sure that the FRI was installed to the KUKA controller, according to [Server Side - KUKA Controller](#server-side---kuka-controller). The client side requires to build the [apps](https://github.com/KCL-BMEIS/FastRobotInterface/tree/master/apps), which requires that the FRI was installed according to [Build and Installation](#build-and-installation). Then, open a terminal and do
+```shell
+cd apps
+mkdir build
+cd build
+cmake -DCMAKE_PREFIX_PATH='path/to/lib' .. # on Windows this should be 'C:\Program Files (x86)\FastRobotInterface'
+                                           # on Linux this should be '/usr/local'
+cmake --build . --config Release           # builds the apps in Release mode
+```
+#### Run the Apps
+To run one of the example [apps](https://github.com/KCL-BMEIS/FastRobotInterface/tree/master/apps), they have to be started on the smartHMI (KUKA's smartpad), as well as on the laptop.
+* On the smartHMI
+  * Select an Application (left below), e.g. the LBRJointSineOverlay
+  * Press one of the enabling switches half way (grey buttons on the back of the smartHMI). The joint control A1-A7 will light up (center below)
+  * Press and hold the play button (below right), and the enabling switch
+<br><br>
+  <figure>
+    <p align="center"><img src="img/select_app_highlighted.png" width="25%" height="25%" hspace="20"><img   src="img/joint_sine_overlay_enable_highlighted.png" width="25%" height="25%" hspace="20"><img src="img/joint_sine_overlay_running_highlighted.png" width="25%" height="25%" hspace="20"></p>
+    <figcaption></figcaption>
+  </figure>
+* On the laptop open a terminal, and run
+
+```shell
+cd apps/build         # on Linux 
+cd apps/build/Release # on Windows
+./lbrjointsineoverlay
+```
+The robot should now be controlled by your Laptop, well done 😄! For open questions please leave an [Issue](https://github.com/KCL-BMEIS/FastRobotInterface/issues).