# LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots

arXiv: https://arxiv.org/abs/2311.12709 · HTML: https://mlsanity.com/paper/2311.12709/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Nov 2023.

## Built on by (most cited first, 2 of 2)

- [Hydra: Marker-Free RGB-D Hand-Eye Calibration](https://mlsanity.com/paper/2504.20584/) (2025)
- [Localising under the drape: proprioception in the era of distributed surgical robotic system](https://mlsanity.com/paper/2510.23512/) (2025)

## Abstract (arXiv)

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.