139 lines
4.1 KiB
Markdown
139 lines
4.1 KiB
Markdown
# Lightweight Cobot
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> **Draft documentation — work in progress**
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ROS 2 packages for controlling the **KUKA LBR IIWA 7 R800**: communication with the real robot via [FRI](https://github.com/lbr-stack/fri) (Fast Robot Interface) and simulation in [Webots](https://cyberbotics.com/).
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<table>
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<tr>
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<th align="center">LBR IIWA 7 R800</th>
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</tr>
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<tr>
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<td align="center">
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<img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800" width="300">
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</td>
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</tr>
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</table>
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---
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## Status
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| OS | ROS Distribution | FRI Version |
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| :--- | :--- | :--- |
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| `Ubuntu 24.04` | `jazzy` | `1.15` |
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---
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## Quick Start
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Install everything with a single command:
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```bash
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curl -fsSL https://gitverse.ru/api/repos/daniel-robotics/lightweight-cobot/raw/branch/master/install.sh | bash
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```
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The script installs ROS 2 Jazzy, Webots, builds the workspace, and installs the `cobot` CLI.
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---
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## `cobot` Commands
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After installation, manage the system via CLI:
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```
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cobot <command>
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```
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### Setup
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| Command | Description |
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| :--- | :--- |
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| `cobot setup` | First-time setup: documentation server, build environment, robot config |
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| `cobot local-setup` | Install ROS 2 Jazzy natively and build the project with colcon |
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| `cobot docker-setup` | Build or pull Docker images |
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| `cobot doc-setup` | Deploy or stop the MkDocs documentation server |
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| `cobot robot-setup` | Configure `cobot-setting.yaml` interactively |
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### Run
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| Command | Description |
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| :--- | :--- |
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| `cobot run` | Launch the robot controller or Webots simulator (local or Docker) |
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### Build
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| Command | Description |
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| :--- | :--- |
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| `cobot rebuild` | Rebuild ROS 2 packages in `src/` with colcon |
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| `cobot clean` | Remove colcon build artifacts (`build/` `install/` `log/`) |
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### Management
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| Command | Description |
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| :--- | :--- |
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| `cobot update` | Pull latest changes from the remote git branch and reinstall `cobot` |
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| `cobot delete` | Remove the project, Docker images, containers, and optionally ROS 2 |
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---
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## Demo
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> GIF animations will be added in upcoming releases
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<table>
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<tr>
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<th align="center" width="33%">Webots Simulation</th>
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<th align="center" width="33%">Joint-Space Control</th>
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<th align="center" width="33%">Cartesian Control</th>
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</tr>
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<tr>
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<td align="center"><i>— coming soon —</i></td>
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<td align="center"><i>— coming soon —</i></td>
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<td align="center"><i>— coming soon —</i></td>
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</tr>
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</table>
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---
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## Packages
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| Package | Description |
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| :--- | :--- |
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| `iiwa_bringup` | Launch files: Webots simulation, real robot via FRI, MoveIt motion planning and RViz visualization |
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| `iiwa_config` | Configuration files: MoveIt, ros2_control controllers, kinematics and general system settings |
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| `iiwa_controller` | Hardware interface: real-time joint control via FRI within the ros2_control ecosystem |
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| `iiwa_description` | URDF/XACRO robot description and Webots world configuration |
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| `iiwa_msgs` | ROS 2 interfaces: action messages for joint-space and Cartesian motion, services for named poses |
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| `iiwa_planning` | Motion planning: C++ and Python nodes built on MoveIt 2 (OMPL, Pilz, moveit_py) |
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| `iiwa_utils` | System utilities: configuration loading, object and camera spawning in Webots, data conversion |
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| `iiwa_web` | Web interface for monitoring and remote control of the cobot via browser |
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---
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## Citation
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If you use this project in your work, please leave a star ⭐ and cite it:
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```bibtex
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@software{lightweight_cobot_2026,
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author = {Hrabar, Daniil},
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title = {Lightweight Cobot: ROS 2 stack for KUKA LBR IIWA 7},
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year = {2026},
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url = {https://gitverse.ru/daniel-robotics/lightweight-cobot}
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}
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```
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---
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## Acknowledgements
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We gratefully acknowledge the support of the following organizations and grants:
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| Organization | Notes |
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| [Komsomolsk-on-Amur State University (KnAGU)](https://knastu.ru/) | Research was conducted at KnAGU |
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| [Russian Science Foundation (RSF)](https://rscf.ru/) | Work supported by the Russian Science Foundation |
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| <!-- TODO --> | <!-- TODO --> |
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| <!-- TODO --> | <!-- TODO --> |
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