lbr_fri_ros2_stack
ROS 2 integration for KUKA LBR IIWA 7/14 and Med 7/14
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Download Latest Version (.zip)- backport.yaml
- black.yml
- build-ubuntu-24.04-fri-1.11.yml
- build-ubuntu-24.04-fri-1.14.yml
- build-ubuntu-24.04-fri-1.15.yml
- build-ubuntu-24.04-fri-1.16.yml
- build-ubuntu-24.04-fri-2.5.yml
- build-ubuntu-24.04-fri-2.7.yml
- build-ubuntu-24.04.yml
- CONTRIBUTING.md
- docker.rst
- container_build.sh
- container_new_console.sh
- container_start.sh
- Dockerfile
- gazebo.rviz
- hardware.rviz
- mock.rviz
- moveit_servo.yaml
- lbr_bringup.rst
- gazebo.launch.py
- hardware.launch.py
- mock.launch.py
- move_group.launch.py
- moveit_servo.launch.py
- rviz.launch.py
- __init__.py
- description.py
- gazebo.py
- moveit.py
- ros2_control.py
- rviz.py
- CMakeLists.txt
- package.xml
- applications_brake_test.png
- applications_joint_sine_overlay.png
- applications_lbr_server.png
- applications_torque_sine_overlay.png
- applications_wrench_sine_overlay.png
- lbr_demos.rst
- lbr_demos_advanced_cpp.rst
- lbr_base_position_command_node.hpp
- pose_control_node.cpp
- pose_planning_node.cpp
- CMakeLists.txt
- package.xml
- admittance_control.yaml
- admittance_rcm_control.yaml
- lbr_demos_advanced_py.rst
- __init__.py
- admittance_control_node.py
- admittance_controller.py
- admittance_rcm_control_node.py
- admittance_rcm_controller.py
- lbr_base_position_command_node.py
- lbr_demos_advanced_py
- test_copyright.py
- test_flake8.py
- test_pep257.py
- package.xml
- setup.cfg
- setup.py
- lbr_demos_cpp.rst
- joint_sine_overlay.cpp
- joint_trajectory_client.cpp
- torque_sine_overlay.cpp
- wrench_sine_overlay.cpp
- CMakeLists.txt
- package.xml
- lbr_demos_py.rst
- __init__.py
- joint_sine_overlay.py
- joint_trajectory_client.py
- torque_sine_overlay.py
- wrench_sine_overlay.py
- lbr_demos_py
- test_copyright.py
- test_flake8.py
- test_pep257.py
- package.xml
- setup.cfg
- setup.py
- dual_arm_controllers.yaml
- initial_joint_positions.yaml
- joint_limits.yaml
- lbr_one_system_config.yaml
- lbr_two_system_config.yaml
- lbr_dual_arm.rst
- hardware.launch.py
- mock.launch.py
- lbr_dual_arm.xacro
- CMakeLists.txt
- package.xml
- joint_limits.yaml
- kinematics.yaml
- lbr_dual_arm.srdf
- moveit.rviz
- moveit_controllers.yaml
- pilz_cartesian_limits.yaml
- move_group.launch.py
- moveit_rviz.launch.py
- setup_assistant.launch.py
- .setup_assistant
- CMakeLists.txt
- package.xml
- forward_keyboard.yaml
- iiwa7_moveit_rviz.png
- lbr_moveit.rst
- keyboard_driver.launch.py
- __init__.py
- forward_keyboard_node.py
- keyboard_listener.py
- lbr_moveit
- __init__.py
- forward_keyboard.py
- test_copyright.py
- test_flake8.py
- test_pep257.py
- package.xml
- setup.cfg
- setup.py
- lbr_moveit_cpp.rst
- hello_moveit.launch.py
- hello_moveit.cpp
- CMakeLists.txt
- package.xml
- lbr_fri_ros2_v2.0.0.svg
- lbr_fri_ros2.rst
- command_guard.hpp
- state_guard.hpp
- base_command.hpp
- position_command.hpp
- state.hpp
- torque_command.hpp
- wrench_command.hpp
- app.hpp
- async_client.hpp
- control.hpp
- filters.hpp
- formatting.hpp
- kinematics.hpp
- math.hpp
- pinv.hpp
- types.hpp
- utils.hpp
- worker.hpp
- wrench_estimator.hpp
- command_guard.cpp
- state_guard.cpp
- base_command.cpp
- position_command.cpp
- state.cpp
- torque_command.cpp
- wrench_command.cpp
- app.cpp
- async_client.cpp
- control.cpp
- filters.cpp
- kinematics.cpp
- math.cpp
- worker.cpp
- wrench_estimator.cpp
- test_command_interfaces.cpp
- test_position_command.cpp
- test_torque_command.cpp
- test_wrench_command.cpp
- CMakeLists.txt
- package.xml
- 00_lbr_fri_ros2_create_package.png
- 00_link_path_refresh.png
- 00_station_setup_topology.png
- 00_sunrise_create_project.png
- 01_lbr_fri_ros2_create_package_name.png
- 01_station_setup_software.png
- 01_sunrise_create_project_default_ip.png
- 02_station_setup_configuration.png
- 02_sunrise_create_project_project_name.png
- 03_station_setup_installation.png
- 03_sunrise_create_project_robot_select.png
- 04_station_setup_installation_install.png
- 04_sunrise_create_project_media_flange.png
- 05_station_setup_installation_reboot.png
- 05_sunrise_create_project_unselect_wizard.png
- 06_station_setup_installation_synchronize.png
- activation_activate.png
- activation_activation.png
- activation_safety.png
- activation.png
- applications.png
- home.png
- lbr_server_client_command_mode.png
- lbr_server_control_mode.png
- lbr_server_ip_address.png
- lbr_server_send_period.png
- lbr_server_wait_connection.png
- safety.png
- iiwa14_r820.png
- iiwa7_r800.png
- med14_r820.png
- med7_r800.png
- iiwa14_r820.png
- iiwa7_r800.png
- med14_r820.png
- med7_r800.png
- hardware_setup.rst
- lbr_fri_ros2_stack.rst
- CMakeLists.txt
- package.xml
- repos-fri-1.11.yaml
- repos-fri-1.14.yaml
- repos-fri-1.15.yaml
- repos-fri-1.16.yaml
- repos-fri-2.5.yaml
- repos-fri-2.6.yaml
- repos-fri-2.7.yaml
- 00_start_screen.png
- 01_self_collision.png
- 02_virtual_joints.png
- 03_define_planning_groups.png
- 03_define_planning_groups_kinematic_chain.png
- 03_planning_groups.png
- 04_define_robot_poses_transport.png
- 04_robot_poses.png
- 04_robot_poses_zero.png
- 04_robot_poses_zero_transport.png
- 05_end_effectors.png
- 06_passive_joints.png
- 07_ros2_control.png
- 08_ros2_controllers.png
- 09_moveit_controllers.png
- 10_perception.png
- 11_launch_files.png
- 12_author_information.png
- 13_configuration_files.png
- lbr_moveit_config.rst
- iiwa14.srdf
- joint_limits.yaml
- kinematics.yaml
- moveit.rviz
- moveit_controllers.yaml
- pilz_cartesian_limits.yaml
- move_group.launch.py
- moveit_rviz.launch.py
- setup_assistant.launch.py
- .setup_assistant
- CMakeLists.txt
- package.xml
- iiwa7.srdf
- joint_limits.yaml
- kinematics.yaml
- moveit.rviz
- moveit_controllers.yaml
- pilz_cartesian_limits.yaml
- move_group.launch.py
- moveit_rviz.launch.py
- setup_assistant.launch.py
- .setup_assistant
- CMakeLists.txt
- package.xml
- joint_limits.yaml
- kinematics.yaml
- med14.srdf
- moveit.rviz
- moveit_controllers.yaml
- pilz_cartesian_limits.yaml
- move_group.launch.py
- moveit_rviz.launch.py
- setup_assistant.launch.py
- .setup_assistant
- CMakeLists.txt
- package.xml
- joint_limits.yaml
- kinematics.yaml
- med7.srdf
- moveit.rviz
- moveit_controllers.yaml
- pilz_cartesian_limits.yaml
- move_group.launch.py
- moveit_rviz.launch.py
- setup_assistant.launch.py
- .setup_assistant
- CMakeLists.txt
- package.xml
- gazebo.yaml
- hardware.yaml
- mock.yaml
- initial_joint_positions.yaml
- lbr_system_config.yaml
- lbr_ros2_control_detailed_v2.0.0.svg
- lbr_ros2_control_v2.0.0.svg
- lbr_ros2_control.rst
- admittance_controller.hpp
- estimated_wrench_interface.hpp
- lbr_joint_position_command_controller.hpp
- lbr_state_broadcaster.hpp
- lbr_torque_command_controller.hpp
- lbr_wrench_command_controller.hpp
- twist_controller.hpp
- system_interface.hpp
- system_interface_type_values.hpp
- controllers.xml
- system_interface.xml
- admittance_controller.cpp
- estimated_wrench_interface.cpp
- lbr_joint_position_command_controller.cpp
- lbr_state_broadcaster.cpp
- lbr_torque_command_controller.cpp
- lbr_wrench_command_controller.cpp
- twist_controller.cpp
- system_interface.cpp
- iiwa14.xacro
- joint_limits.yaml
- iiwa7.xacro
- joint_limits.yaml
- joint_limits.yaml
- med14.xacro
- joint_limits.yaml
- med7.xacro
- lbr_gazebo.xacro
- lbr_system_interface.xacro
- CMakeLists.txt
- package.xml
- .gitignore
- CHANGELOG.rst
- CITATION.cff
- CODE_OF_CONDUCT.md
- LICENSE
- README.md
# Installation Guide
1. Get the code
git clone https://github.com/lbr-stack/lbr_fri_ros2_stack
Downloads the entire project code from GitHub to your computer.
cd lbr_fri_ros2_stack
Moves into the project folder you just downloaded.
2. Official Install Script
Easy RecommendedPrerequisites
- APT (Debian/Ubuntu ๊ณ์ด) Built into Debian/Ubuntu-based Linux distributions.
sudo apt install ros-dev-tools
Installs directly from the APT package repository (Debian/Ubuntu-based).
After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.
Pulled directly from this repo's README.
3. Docker
EasyPrerequisites
- Git Needed to download the project code from GitHub.
- Docker Desktop Needed to build and run containers. Install it and keep it running in the background.
docker build -f docker/Dockerfile -t lbr-fri-ros2-stack .
Builds a runnable image based on the Dockerfile.
docker run -p 8080:80 lbr-fri-ros2-stack
Runs the built image as an actual container.
Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.
4. CMake
MediumPrerequisites
cd lbr_bringup
This project's files live in a subfolder, so move into it first.
mkdir build && cd build
Creates a folder to hold the build output and moves into it.
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
make
Compiles the code based on the generated build configuration to produce an executable.
Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).
5. Python
EasyPrerequisites
โ ๏ธ This is a large repository, so this method may point to an internal sub-package rather than the actual core product. Check the full README as well.
pip install .
Installs the package published on PyPI directly โ no need to clone the source.
python <์คํํ ํ์ผ๋ช
>.py # README์์ ์ ํํ ์คํ ํ์ผ๋ช
์ ํ์ธํ์ธ์
Runs the Python script (or module).
If it runs without errors and prints output in the terminal, it worked.
// repository documentation
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