LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots
Martin Huber, Christopher E. Mower, Sebastien Ourselin, Tom, Vercauteren, Christos Bergeles
TL;DR
The paper introduces LBR-Stack, a comprehensive software package that integrates ROS 2 and Python with KUKA's FRI, enabling real-time control and simulation of KUKA LBR Med and IIWA robots.
Contribution
It provides a unified, easy-to-use framework for real-time robot control combining ROS 2, Python, and KUKA FRI, supporting both simulation and hardware.
Findings
Supports real-time control of KUKA robots in simulation and hardware
Simplifies integration of KUKA FRI with ROS 2 and Python
Enhances capabilities for mission-critical applications
Abstract
The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo simulation and for communication with real hardware.
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Taxonomy
TopicsRobotic Path Planning Algorithms · Robotics and Automated Systems · Robotics and Sensor-Based Localization