Lightweight Cobot

Draft documentation — work in progress

ROS 2 packages for controlling the KUKA LBR IIWA 7 R800: communication with the real robot via FRI (Fast Robot Interface) and simulation in Webots.

LBR IIWA 7 R800

Status

OS	ROS Distribution	FRI Version
`Ubuntu 24.04`	`jazzy`	`1.16`

Quick Start

Install everything with a single command:

curl -fsSL https://gitverse.ru/api/repos/daniel-robotics/lightweight-cobot/raw/branch/master/install.sh | bash

The script installs ROS 2 Jazzy, Webots, builds the workspace, and installs the cobot CLI.

`cobot` Commands

After installation, manage the system via CLI:

cobot <command>

Setup

Command	Description
`cobot setup`	First-time setup: documentation server, build environment, robot config
`cobot local-setup`	Install ROS 2 Jazzy natively and build the project with colcon
`cobot docker-setup`	Build or pull Docker images
`cobot doc-setup`	Deploy or stop the MkDocs documentation server
`cobot robot-setup`	Configure `cobot-setting.yaml` interactively

Run

Command	Description
`cobot run`	Launch the robot controller or Webots simulator (local or Docker)

Build

Command	Description
`cobot rebuild`	Rebuild ROS 2 packages in `src/` with colcon
`cobot clean`	Remove colcon build artifacts (`build/` `install/` `log/`)

Management

Command	Description
`cobot update`	Pull latest changes from the remote git branch and reinstall `cobot`
`cobot delete`	Remove the project, Docker images, containers, and optionally ROS 2

Demo

GIF animations will be added in upcoming releases

Webots Simulation	Joint-Space Control	Cartesian Control
— coming soon —	— coming soon —	— coming soon —

Packages

Package	Description
`iiwa_bringup`	Launch files: Webots simulation, real robot via FRI, MoveIt motion planning and RViz visualization
`iiwa_config`	Configuration files: MoveIt, ros2_control controllers, kinematics and general system settings
`iiwa_controller`	Hardware interface: real-time joint control via FRI within the ros2_control ecosystem
`iiwa_description`	URDF/XACRO robot description and Webots world configuration
`iiwa_msgs`	ROS 2 interfaces: action messages for joint-space and Cartesian motion, services for named poses
`iiwa_planning`	Motion planning: C++ and Python nodes built on MoveIt 2 (OMPL, Pilz, moveit_py)
`iiwa_utils`	System utilities: configuration loading, object and camera spawning in Webots, data conversion
`iiwa_web`	Web interface for monitoring and remote control of the cobot via browser

Citation

If you use this project in your work, please leave a star ⭐ and cite it:

@software{lightweight_cobot_2026,
  author  = {Hrabar, Daniil},
  title   = {Lightweight Cobot: ROS 2 stack for KUKA LBR IIWA 7},
  year    = {2026},
  url     = {https://gitverse.ru/daniel-robotics/lightweight-cobot}
}

Acknowledgements

We gratefully acknowledge the support of the following organizations and grants:

Organization	Notes
Komsomolsk-on-Amur State University (KnAGU)	Research was conducted at KnAGU
Russian Science Foundation (RSF)	Work supported by the Russian Science Foundation

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