lbr_fri_ros2

Note

Users will interface the hardware through lbr_ros2_control. Documentation for lbr_fri_ros2 is intended for developers.

API Reference

• Classes
  • Class List
  • Class Index
  • Class Hierarchy
  • Class Members
    • All
    • Functions
    • Variables

Software Architecture

The lbr_fri_ros2 package extends the FRI with:

1. AsyncClient for asynchronous communication to the hardware

2. App for running the AsyncClient asynchronously

The software architecture is shown below (click to expand):

The lbr_ros2_control package can be considered a User in the above figure. It builds on top of the lbr_fri_ros2 package to provide a ROS 2 interface to the hardware.