KUKA LBRs (iiwa and med) now on RoboStack

[mhubii]

Happy to share that drivers for KUKA iiwa and med robots can now conveniently be installed via RoboStack (for Humble and Jazzy) also on macOS . Simply:

pixi init ros-ftw -c robostack-jazzy -c conda-forge
cd ros-ftw
pixi add \
    ros-jazzy-desktop \
    ros-jazzy-lbr-fri-ros2-stack \
    ros-jazzy-med7-moveit-config \
    ros-jazzy-med14-moveit-config \
    ros-jazzy-iiwa7-moveit-config \
    ros-jazzy-iiwa14-moveit-config \
    filelock

Then e.g. launch MoveIt on a mock setup:

pixi run ros2 launch lbr_bringup mock.launch.py
pixi run ros2 launch lbr_bringup move_group.launch.py rviz:=true

Below is a demo, instantiating a blank environment to a hand-guided system on a Mac in under a minute (ros2 launch lbr_bringup hardware.launch.py ctrl:=admittance_controller):

Currently, only FRI 1.x are distributed (pixi add lbr-fri-client-sdk=1.x to specify), but we will be working on distributing 1.x-3.0.

This incredible work was contributed by Kenichi Maeda, Gary Lvov, Silvio Traversaro, Tobias Fischer, and Dhruv Deepikaben Patel.

RoboStack: github.com/RoboStack
LBR-Stack: github.com/lbr-stack/lbr_fri_ros2_stack