Download and Installation Instructions: Linux

Download URL: http://cs.stanford.edu/people/tkr/fri/download/fril.tar.gz

Download the file and copy it to a directory of yours (e.g., /home/MyUsername/FRI). After unzipping the compressed file with

tar -xf fril.tar.gz

you need to replace the three files friComm.h, friudp.h, and friudp.cpp with the original files you received from KUKA (cf. List of Files). Afterwards, you change to the directory FRILibrary/Linux and enter

make clean all

to check whether all files compile correctly on your system. If so, you may continue with Step 4 of the Quick Start Manual. The class FastResearchInterface represents the user API.

Please note that you will need to adapt the path of the initialization file (e.g., 980039-FRI-Driver.init) before you can establish a connection form the remote host to the KRC control unit.

Note:

To enable building for 64-bit architectures, please uncomment the marked lines in the file ExternalTargets.global.