libiiwa - Scalable and Unified Multi-Control Framework for the KUKA LBR iiwa (0.1.1-beta)
libiiwa is a scalable cross-platform multi-control framework for KUKA LBR iiwa cobots. It provides an interface that not only unifies and enables control and communication through ROS and ROS2, but also allows direct control for those applications where minimum control frequency is required through a scalable, simple and well-documented Application Programming Interface (API) in Python
GitHub repository: https://github.com/Toni-SM/libiiwa
Questions or discussions: https://github.com/Toni-SM/libiiwa/discussions
Citing libiiwa: To cite this library (created at Mondragon Unibertsitatea) use the following reference to its article: “A Scalable and Unified Multi-Control Framework for KUKA LBR iiwa Collaborative Robots”
@inproceedings{serrano2023scalable,
title={A Scalable and Unified Multi-Control Framework for KUKA LBR iiwa Collaborative Robots},
author={Serrano-Mu{\~n}oz, Antonio and Elguea-Aguinaco, {\'I}{\~n}igo and Chrysostomou, Dimitris and B{\o}gh, Simon and Arana-Arexolaleiba, Nestor},
booktitle={2023 IEEE/SICE International Symposium on System Integration (SII)},
pages={1--5},
year={2023},
organization={IEEE}
}
User guide
Python API