Digital I/O signal activation

[pala5]

Helo @mhubii.

I have a question that came up while using your packages (lbr_frI_ros2_stack and fri).
I have the LBR Iiwa 14 820R with the Sunrise.OS 1.16.1.9 (FRI 1.16), and I am working with Ubuntu 22.04 and ROS2 Humble distro.

We have installed an external digital I/O card, configurable from Sunrise.Workvisual, required to control some external devices.
I have seen, that in the FRIClientSDK, for the FRI 1.16 version, in the frilLBRCommand class, there is the function setDigitalIOValue, but I did not found this functionality in this package.

I am missing something or it was not considered?
Could you provide some help regarding this issue?

[mhubii]

Hi @pala5 , thanks for raising this issue. This is indeed missing right now

[pala5]

Hi @mhubii, are you planning to work on it soon?

[mhubii]

well this is an important feature that should be supported. How urgent is it on your end?

[pala5]

Well, I could say it is a matter of life and death.

[pala5]

Hey @mhubii!
Do you have time to work on that?
Thanks

[mhubii]

really occupied these days :(, I will give it a quick look tomorrow, hope this get you unstuck. Genuinely sorry

[pala5]

Hey @mhubii, do not worry! Thank you very much for your effort.

[pala5]

Hey @mhubii!
I don't want to be a bore, but do you have any update?
Thanks