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Add lbr_fri_ros2_stack #385

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8a5e975
Add basic support for lbr-fri
kenichi-maeda Jan 29, 2026
7945ef3
Use lbr-fri-client-sdk from conda-forge
kenichi-maeda Jan 29, 2026
adcb8e5
Add support for different FRI versions
kenichi-maeda Jan 29, 2026
87bd48b
Remove host and run
kenichi-maeda Jan 29, 2026
1b379be
Merge branch 'RoboStack:main' into add-lbr-fri
kenichi-maeda Jan 30, 2026
2dfdaa4
Exclude fri 2.5 and 2.7
kenichi-maeda Feb 3, 2026
bb75ead
Fix kinematics-interface for win
kenichi-maeda Feb 4, 2026
5fd24e0
Unpin lbr-fri-client-sdk
kenichi-maeda Feb 4, 2026
4e0b94d
Clean up dependencies
kenichi-maeda Feb 4, 2026
f01d9ab
Fix win patch
kenichi-maeda Feb 5, 2026
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7 changes: 7 additions & 0 deletions conda_build_config.yaml
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Expand Up @@ -61,3 +61,10 @@ libzenohcxx:
- 1.4.0
libcap:
- 2.71

lbr_fri_client_sdk:
- '1.11'
- '1.14'
- '1.15'
- '1.16'
- '1.17'
27 changes: 27 additions & 0 deletions patch/dependencies.yaml
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Expand Up @@ -280,3 +280,30 @@ franka_example_controllers:
franka_ign_ros2_control:
add_host: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen", "${{ 'libgl-devel' if linux }}"]
add_run: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen"]
lbr_ros2_control:
remove_host: ["lbr-fri-client-sdk"]
remove_run: ["lbr-fri-client-sdk"]
add_host:
- ros-humble-kinematics-interface
- lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*
add_run:
- ros-humble-kinematics-interface
- lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*
lbr_fri_idl:
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@Tobias-Fischer Tobias-Fischer Feb 3, 2026

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I don't think we need any of the lbr-fri-client-sdk pinnings, that should be taken care of in the lbr-fri-client-sdk feedstocks by properly defining the run_exports

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@kenichi-maeda kenichi-maeda Feb 4, 2026

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Thank you for pointing it out. I updated the yaml file.

remove_host: ["lbr-fri-client-sdk"]
add_host: ["lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*"]
lbr_fri_ros2:
remove_host: ["lbr-fri-client-sdk"]
remove_run: ["lbr-fri-client-sdk"]
add_host: ["lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*"]
add_run: ["lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*"]
lbr_demos_cpp:
remove_host: ["lbr-fri-client-sdk"]
remove_run: ["lbr-fri-client-sdk"]
add_host: ["lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*"]
add_run: ["lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*"]
lbr_demos_advanced_cpp:
remove_host: ["lbr-fri-client-sdk"]
remove_run: ["lbr-fri-client-sdk"]
add_host: ["lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*"]
add_run: ["lbr-fri-client-sdk ${{ lbr_fri_client_sdk }}.*"]
10 changes: 5 additions & 5 deletions patch/ros-humble-kinematics-interface.patch
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@@ -1,11 +1,11 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/kinematics_interface/CMakeLists.txt b/kinematics_interface/CMakeLists.txt
index 27a6269..06549d9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
--- a/kinematics_interface/CMakeLists.txt
+++ b/kinematics_interface/CMakeLists.txt
@@ -45,5 +45,5 @@ install(
)

ament_export_targets(export_kinematics_interface HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Eigen3)
ament_package()
ament_package()
4 changes: 4 additions & 0 deletions pkg_additional_info.yaml
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Expand Up @@ -166,3 +166,7 @@ mavros_msgs:
build_number: 14
mavros_extras:
build_number: 14
kinematics_interface:
build_number: 14
kinematics_interface_kdl:
build_number: 14
2 changes: 2 additions & 0 deletions robostack.yaml
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Expand Up @@ -106,6 +106,8 @@ flex:
robostack: [flex]
fmt:
robostack: [fmt]
fri_client_sdk:
robostack: [lbr-fri-client-sdk]
g++-static:
robostack: []
gawk:
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89 changes: 89 additions & 0 deletions rosdistro_additional_recipes.yaml
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Expand Up @@ -26,3 +26,92 @@ wasm_cpp:
url: https://github.com/ros2wasm/rmw_wasm.git
version: 1.0.0
additional_folder: wasm_cpp
lbr_demos_advanced_cpp:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.4.3
additional_folder: lbr_demos/lbr_demos_advanced_cpp
lbr_demos_advanced_py:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.4.3
additional_folder: lbr_demos/lbr_demos_advanced_py
lbr_demos_cpp:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.4.3
additional_folder: lbr_demos/lbr_demos_cpp
lbr_demos_py:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.4.3
additional_folder: lbr_demos/lbr_demos_py
lbr_moveit:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.4.3
additional_folder: lbr_demos/lbr_moveit
lbr_moveit_cpp:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.4.3
additional_folder: lbr_demos/lbr_moveit_cpp
lbr_bringup:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.2.2
additional_folder: lbr_bringup
lbr_description:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.2.2
additional_folder: lbr_description
lbr_fri_ros2:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.2.2
additional_folder: lbr_fri_ros2
lbr_fri_ros2_stack:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.2.2
additional_folder: lbr_fri_ros2_stack
lbr_ros2_control:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 2.2.2
additional_folder: lbr_ros2_control
iiwa14_moveit_config:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 0.3.0
additional_folder: lbr_moveit_config/iiwa14_moveit_config
iiwa7_moveit_config:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 0.3.0
additional_folder: lbr_moveit_config/iiwa7_moveit_config
med14_moveit_config:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 0.3.0
additional_folder: lbr_moveit_config/med14_moveit_config
med7_moveit_config:
url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
rev: 2e932d4e062966afe216710a7cc2fe50a8099365
version: 0.3.0
additional_folder: lbr_moveit_config/med7_moveit_config
lbr_fri_idl:
url: https://github.com/lbr-stack/lbr_fri_idl.git
rev: e422bff2b3d70ec47853145b35645980df623a60
version: 1.5.0
kinematics_interface:
url: https://github.com/ros-controls/kinematics_interface.git
rev: 7285c88693ae612cfdb1952e5344f9b9a6998ba2
version: 0.4.0
additional_folder: kinematics_interface
kinematics_interface_kdl:
url: https://github.com/ros-controls/kinematics_interface.git
rev: 7285c88693ae612cfdb1952e5344f9b9a6998ba2
version: 0.4.0
additional_folder: kinematics_interface_kdl
19 changes: 19 additions & 0 deletions vinca.yaml
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Expand Up @@ -321,6 +321,25 @@ packages_select_by_deps:
- topic_based_ros2_control
# IntelRealSense
- librealsense2
# requested in https://github.com/RoboStack/ros-humble/issues/352
- lbr_bringup
- lbr_demos_advanced_cpp
- lbr_demos_advanced_py
- lbr_demos_cpp
- lbr_demos_py
- lbr_moveit
- lbr_moveit_cpp
- lbr_description
- lbr_fri_ros2
- lbr_fri_ros2_stack
- iiwa14_moveit_config
- iiwa7_moveit_config
- med14_moveit_config
- med7_moveit_config
- lbr_ros2_control
- lbr_fri_idl
- kinematics_interface
- kinematics_interface_kdl

# These packages are only built on Linux as they depend on Linux-specific API
- if: linux
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