LBR FRI ROS2 Stack

ROS2 packages for the KUKA LBR, including communication to the real robot via the Fast Robot Interface (FRI), MoveIt2 integration and Gazebo simulation support. Included are the iiwa7, iiwa14, med7, and med14. To get going, follow the First Steps.

First Steps

Install colcon and rosdep. Build this repository

mkdir -p lbr_fri_ros2_stack_ws/src && cd lbr_fri_ros2_stack_ws
wget https://raw.githubusercontent.com/KCL-BMEIS/lbr_fri_ros2_stack/main/lbr_fri_ros2_stack/repos.yml -P src
vcs import src < src/repos.yml
rosdep install --from-paths src --ignore-src -r -y
colcon build

Next, launch an example via

source install/setup.bash
ros2 launch lbr_bringup lbr_bringup.launch.py model:=med7 sim:=true # model:=[iiwa7/iiwa14/med7/med14]

For execution on the real robot, the steps in Real Setup are to be followed. Once the controller is set up, run the LBRServer app on the KUKA smartPAD. Once running, establish a connection via

source install/setup.bash
ros2 launch lbr_bringup lbr_bringup.launch.py model:=med7 sim:=false # model:=[iiwa7/iiwa14/med7/med14]

Real Setup

Setup the Controller

The controller (Sunrise Cabinet) receives commands from the ROS machine via the FRI. Therefore, the server application has to be pushed onto the Sunrise Cabinet.

• Connect an ethernet cable to port X66 on the Sunrise Cabinet
• By default, the controller's IP address is 172.31.1.147, set your IP to 172.31.1.148 and ping the KUKA Sunrise Cabinet
• Install Sunrise Workbench (Windows required)
• Synchronize the Server Application

Install Sunrise Workbench

This step requires Windows as OS. Sunrise Workbench is KUKA's Java IDE that allows you to program the LBR.

• Download it from the RViM shared folder
• Extract the .zip file and run the Sunrise Workbench Setup
• Follow the install instructions

Synchronize the Server Application

To push the server application that handles the communication to the robot

• Create a new project in Sunrise Workbench, File -> New -> Sunrise project
• Copy the contents of server to the src folder inside the Sunrise project
• In the Software tab of the StationSetup.cat, tick the Fast Robot Interface Extension box
• Install settings to the controller, in the Installation tab of the StationSetup.cat, press install
• Synchronize the Sunrise project

Additional Resources

Additional resources can be found on the school's Sharepoint.

• Hardware
  • LBR Med Quickstart
  • LBR Med 7 R800, LBR Med 14 R820, Insructions for Use
  • KUKA Sunrise Cabinet Med, Instructions for Use
• Software
  • KUKA Sunrise.OS Med 1.15, KUKA Sunrise.Workbench Med 1.15, Operating and Programming Instructions for System Integrators
  • KUKA Sunrise.FRI 1.15