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

The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI) (Schreiber et al., 2010). 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 (Koenig & Howard, 2004) and for communication with real hardware. A demo video can be found here. An overview of the software architecture is shown in Figure 2. At the LBR-Stack's core are two packages: fri: Integration of KUKA's original FRI client library into CMake.