ROS Index
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lbr_fri_ros2_stack repositoryrobotics ros kuka kuka-lbr-iiwa ros2 kuka-lbr-med lbr_bringup lbr_demos_advanced_cpp lbr_demos_advanced_py lbr_demos_cpp lbr_demos_py lbr_moveit lbr_moveit_cpp lbr_description lbr_fri_ros2 lbr_fri_ros2_stack iiwa14_moveit_config iiwa7_moveit_config med14_moveit_config med7_moveit_config lbr_ros2_control |
Repository Summary
| Description | ROS 2 integration for KUKA LBR IIWA 7/14 and Med 7/14 |
| Checkout URI | https://github.com/lbr-stack/lbr_fri_ros2_stack.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros kuka kuka-lbr-iiwa ros2 kuka-lbr-med |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| lbr_bringup | 2.2.1 |
| lbr_demos_advanced_cpp | 2.2.1 |
| lbr_demos_advanced_py | 2.2.1 |
| lbr_demos_cpp | 2.2.1 |
| lbr_demos_py | 2.2.1 |
| lbr_moveit | 2.2.1 |
| lbr_moveit_cpp | 2.2.1 |
| lbr_description | 2.2.1 |
| lbr_fri_ros2 | 2.2.1 |
| lbr_fri_ros2_stack | 2.2.1 |
| iiwa14_moveit_config | 0.3.0 |
| iiwa7_moveit_config | 0.3.0 |
| med14_moveit_config | 0.3.0 |
| med7_moveit_config | 0.3.0 |
| lbr_ros2_control | 2.2.1 |
README
lbr_fri_ros2_stack
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 IIWA 7 R800 | LBR IIWA 14 R820 | LBR Med 7 R800 | LBR Med 14 R820 |
|---|---|---|---|
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 |
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Status
| OS | ROS Distribution | FRI Version | Build Status |
| :————- | :————— | :———- | :———– |
| Ubuntu-22.04 | humble | 1.11 | 
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| Ubuntu-22.04 | humble | 1.14 | 
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| Ubuntu-22.04 | humble | 1.15 | 
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| Ubuntu-22.04 | humble | 1.16 | 
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| Ubuntu-22.04 | humble | 2.5 | 
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| Ubuntu-22.04 | humble | 2.7 | 
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Documentation
Full documentation available on Read the Docs.
Quick Start
- Install ROS 2 development tools
sudo apt install ros-dev-tools
- Create a workspace, clone, and install dependencies
source /opt/ros/humble/setup.bash
export FRI_CLIENT_VERSION=1.15
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-fri-${FRI_CLIENT_VERSION}.yaml
rosdep install --from-paths src -i -r -y
[!NOTE] FRI client is cloned from fri and must be available as branch, refer README.
- Build
colcon build --symlink-install
- In terminal 1, launch a mock setup via
source install/setup.bash
ros2 launch lbr_bringup mock.launch.py \
model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
[!TIP] List all arguments for the launch file via
ros2 launch lbr_bringup mock.launch.py -s
- In terminal 2, visualize the setup via
source install/setup.bash
ros2 launch lbr_bringup rviz.launch.py \
rviz_cfg_pkg:=lbr_bringup \
rviz_cfg:=config/mock.rviz
Now, run the demos. To get started with the real robot, checkout the Hardware Setup.
Repositories Using This Project
- KUKA ROS2 controllers — A repository for controlling KUKA LBR iiwa and med robots using various control algorithms.
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Citation
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