FRI 2.x Messages

README.md

@@ -33,19 +33,20 @@ Full documentation available [here](https://lbr-fri-ros2-stack-doc.readthedocs.i
 
 2. Create a workspace, clone, and install dependencies
     ```shell
+    export FRI_CLIENT_VERSION=1.15
     mkdir -p lbr-stack/src && cd lbr-stack
-    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
+    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/fri-${FRI_CLIENT_VERSION}.repos
     rosdep install --from-paths src -i -r -y
     ```
 
+> [!NOTE]
+> FRI client is cloned from [fri](https://github.com/lbr-stack/fri) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
+
 3. Build
     ```shell
-    colcon build --symlink-install --cmake-args -DFRI_CLIENT_VERSION=1.15 --no-warn-unused-cli # replace by your FRI client version
+    colcon build --symlink-install
     ```
 
-> [!NOTE]
-> FRI client is added as external CMake project via [fri_vendor](https://github.com/lbr-stack/fri_vendor) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
-
 4. Launch the simulation via
     ```shell
     source install/setup.bash

lbr_fri_ros2_stack/fri-1.14.repos

@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-1.14
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-1
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble

lbr_fri_ros2_stack/fri-1.15.repos

@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-1.15
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-1
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble

lbr_fri_ros2_stack/fri-1.16.repos

@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-1.16
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-1
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble

lbr_fri_ros2_stack/fri-2.5.repos

@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-2.5
+  lbr_fri_msgs:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_msgs
+    version: fri-2
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble