ROS 2統合arXiv:2311.12709
LBR-Stack: KUKA FRIをROS 2とPythonで統合しMed/IIWAロボットを制御
LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots
KUKAのFast Robot Interface (FRI)をROS 2とPythonで扱いやすくし、LBR Med/IIWAロボットのGazeboシミュレーションと実機通信を可能にするパッケージ群を提供。
著者: Martin Huber, Christopher E. Mower, Sebastien Ourselin, Tom Vercauteren, Christos Bergeles
分類: cs.RO
原文アブストラクト
The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo simulation and for communication with real hardware.
