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lbr_fri_ros2_stack

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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 IIWA7 R800 LBR IIWA14 R820 LBR Med7 R800 LBR Med14 R820
LBR IIWA7 R800 LBR IIWA14 R820 LBR Med7 R800 LBR Med14 R820

Documentation

Full documentation available here.

Quick Start

  1. Install ROS 2 development tools

    sudo apt install ros-dev-tools
  2. Create a workspace, clone, and install dependencies

    mkdir -p lbr-stack/src && cd lbr-stack
    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
    rosdep install --from-paths src -i -r -y
  3. Build

    colcon build --symlink-install --cmake-args -DFRI_CLIENT_VERSION=1.15 --no-warn-unused-cli # replace by your FRI client version

Note

FRI client is added as external CMake project via fri_vendor and must be available as branch, refer README.

  1. Launch the simulation via

    source install/setup.bash
    ros2 launch lbr_bringup bringup.launch.py \
        model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
        sim:=true # [true, false] \
        rviz:=true # [true, false] \
        moveit:=true # [true, false]

Tip

List all arguments for the launch file via ros2 launch lbr_bringup bringup.launch.py -s

Now, run the demos. To get started with the real robot, checkout the Documentation above.

Citation

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

@misc{huber2023lbrstack,
      title={LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots}, 
      author={Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
      year={2023},
      eprint={2311.12709},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Acknowledgements

wellcome

This work was supported by core and project funding from the Wellcome/EPSRC [WT203148/Z/16/Z; NS/A000049/1; WT101957; NS/A000027/1].

eu_flag

This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 101016985 (FAROS project).

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ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14

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  • C++ 57.0%
  • Python 37.1%
  • CMake 5.2%
  • Other 0.7%