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 IIWA 7 R800	LBR IIWA 14 R820	LBR Med 7 R800	LBR Med 14 R820

Status

OS	ROS Distribution	FRI Version
`Ubuntu-24.04`	`jazzy`	`1.11`
`Ubuntu-24.04`	`jazzy`	`1.14`
`Ubuntu-24.04`	`jazzy`	`1.15`
`Ubuntu-24.04`	`jazzy`	`1.16`
`Ubuntu-24.04`	`jazzy`	`2.5`
`Ubuntu-24.04`	`jazzy`	`2.6`
`Ubuntu-24.04`	`jazzy`	`2.7`

Documentation

Full documentation available on Read the Docs.

Quick Start

Install ROS 2 development tools
```
sudo apt install ros-dev-tools
```

Create a workspace, clone, and install dependencies

source /opt/ros/jazzy/setup.bash
export FRI_CLIENT_VERSION=1.15
mkdir -p lbr-stack/src && cd lbr-stack
git clone https://github.com/lbr-stack/lbr_fri_ros2_stack.git -b jazzy src/lbr_fri_ros2_stack --depth 1
vcs import src < src/lbr_fri_ros2_stack/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
rosdep install --from-paths src -i -r -y

[!NOTE] FRI client is cloned from fri and must be available as branch, refer README.

Build
```
colcon build --symlink-install
```

In terminal 1, launch a mock setup via

source install/setup.bash
ros2 launch lbr_bringup mock.launch.py \
    model:=iiwa7 # [iiwa7, iiwa14, med7, med14]

[!TIP] List all arguments for the launch file via ros2 launch lbr_bringup mock.launch.py -s

In terminal 2, visualize the setup via

source install/setup.bash
ros2 launch lbr_bringup rviz.launch.py \
    rviz_cfg_pkg:=lbr_bringup \
    rviz_cfg:=config/mock.rviz

Now, run the demos. To get started with the real robot, checkout the Hardware Setup.

Repositories Using This Project

KUKA ROS 2 Controllers: A repository for controlling KUKA LBR IIWA and Med robots using various control algorithms.

Kinematics Control	Gravity Compensation	Impedance Control

Citation

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

@article{Huber2024,
  doi       = {10.21105/joss.06138},
  url       = {https://doi.org/10.21105/joss.06138},
  year      = {2024},
  publisher = {The Open Journal},
  volume    = {9},
  number    = {103},
  pages     = {6138},
  author    = {Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
  title     = {LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots},
  journal   = {Journal of Open Source Software}
}

Acknowledgements

Open Source Contributors

We would like to acknowledge all contributors 🚀

lbr_fri_ros2_stack

fri

Organizations and Grants

We would further like to acknowledge following supporters:

Logo	Notes
	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).
	Built at RViMLab.
	Built at CAI4CAI.
	Built at King's College London.