LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots

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Martin Huber, Christopher E. Mower, Sébastien Ourselin, Tom Vercauteren, Christos Bergeles

Published: 01 Jan 2023, Last Modified: 13 May 2024CoRR 2023EveryoneRevisionsBibTeXCC BY-SA 4.0
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 Med7/14 and KUKA LBR iiwa7/14 robots in the Gazebo simulation and for communication with real hardware.