LBR-Stack

The LBR-Stack hosts community contributed extensions to KUKA’s Fast Robot Interface (FRI) for accelerated research and deployment. The FRI is KUKA’s library for commanding the LBR over a UDP connection.

The LBR-Stack provides CMake support for the FRI. This is further used for ROS 2 integration and Python bindings, as shown below:

fri_dependency_architecture

Further documentation is available for:

  • FRI CMake Support: To see available FRI versions.

  • ROS 2 Integration: ROS 2 packages around the FRI and the LBR (simulation, system integration, safe execution utilities, research, deployment).

  • Python Bindings: Write custom FRI applications without compilation (reserach, experienced users).

  • Hardware Setup: Java application installation instructions.