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

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Nov 21, 2023
Martin Huber, Christopher E. Mower, Sebastien Ourselin, Tom Vercauteren, Christos Bergeles
Figure 1 for LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots
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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.

* Under review at Journal of Open Source Software (JOSS)  
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