lbr_fri_ros2_stack

ROS 2 packages for the KUKA LBR, including communication to the real robot via the Fast Robot Interface (FRI) and Gazebo simulation support. Included are the iiwa7, iiwa14, med7, and med14.

LBR IIWA7 R800	LBR IIWA14 R820	LBR Med7 R800	LBR Med14 R820

Documentation

Full documentation available here.

Quick Start

Install colcon, rosdep and vcstool. Build this repository

mkdir -p lbr-stack/src && cd lbr-stack
wget https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml -P src
vcs import src < src/repos.yaml
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

Next, launch the simulation via

source install/setup.bash
ros2 launch lbr_bringup bringup.launch.py \
    model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
    sim:=true # [true, false] \
    rviz:=true # [true, false] \
    moveit:=true # [true, false]

Now, run the demos. To get started with the real robot, checkout the Documentation above.

Citation

If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support.

@misc{huber2023lbrstack,
      title={LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots}, 
      author={Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
      year={2023},
      eprint={2311.12709},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Acknowledgements

This work was supported by core and project funding from the Wellcome/EPSRC [WT203148/Z/16/Z; NS/A000049/1; WT101957; NS/A000027/1].

This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 101016985 (FAROS project).