The LBR-Stack is a collection of packages designed to simplify and extend the capabilities of KUKA’s Fast Robot Interface (FRI). This interface is designed for mission-critical applications and supports KUKA LBR Med7/14 and KUKA LBR IIWA7/14 robots. The LBR-Stack’s core consists of two packages: ‘fri’, which integrates KUKA’s original FRI client library into CMake, and ‘fri_vendor’, which integrates the ‘fri’ into the ROS 2 build system. Other packages built on top include Python bindings and packages for integration into the Robot Operating System (ROS) and ROS 2. The LBR-Stack offers an overview of the overall software architecture, addressing the need for an interface for KUKA LBRs from an external computer.
Publication date: 22 Nov 2023
Project Page: https://foxglove.dev/ros
Paper: https://arxiv.org/pdf/2311.12709
