lbr_med_stack

ROS 2 Jazzy workspace overlay for the lab's KUKA LBR Med 7 R800, built on the community lbr-stack and driving the arm over FRI 1.15 (to match Sunrise.OS Med 1.15 on the cabinet).

This repo is deliberately thin. It vendors lbr_fri_ros2_stack at a pinned tag via a vcs manifest, reuses that stack's launch files and stock MoveIt config, and ships only:

• a pinned overlay manifest (lbr_med_stack.repos),
• the four setup docs in docs/,
• one MoveItPy go-to-pose example (examples/goto_pose/).

No custom controllers, no MoveIt fork, no wrapper layer. Impedance / torque streaming is documented future scope.

What you need

• Ubuntu 24.04 (Noble) with ROS 2 Jazzy (/opt/ros/jazzy).
• ros-jazzy-moveit, ros-jazzy-ros2-control, ros-jazzy-ros2-controllers (mock hardware ships here).
• Build tooling: python3-colcon-common-extensions, python3-vcstool, python3-rosdep.

Full first-time setup is in docs/01_fresh_machine_setup.md.

Quickstart (mock, no robot)

From a clean overlay workspace:

mkdir -p ~/lbr_med_ws/src && cd ~/lbr_med_ws
export FRI_CLIENT_VERSION=1.15

# 1. pull the pinned stack, then the FRI SDK manifest the stack ships
vcs import src < /path/to/lbr_med_stack/lbr_med_stack.repos
vcs import src < src/lbr_fri_ros2_stack/lbr_fri_ros2_stack/repos-fri-1.15.yaml

# 2. resolve dependencies and build
rosdep install --from-paths src -i -r -y
colcon build --symlink-install

# 3. source the overlay
source install/setup.bash

# 4. bring up mock hardware + MoveIt (no robot)
ros2 launch lbr_bringup mock.launch.py model:=med7
# in another sourced shell:
ros2 launch lbr_bringup move_group.launch.py model:=med7 mode:=mock rviz:=true

[VERIFY ON FIRST RUN] The exact lbr_bringup launch-file names and arguments (mock.launch.py, move_group.launch.py, model:=med7, mode:=mock) are taken from lbr-stack's documented flow. Confirm against the pinned tag with ros2 launch lbr_bringup <file> -s before relying on them.

Run the go-to-pose example: see examples/goto_pose/README.md.

For the real robot, do not start here. Work through the network, Sunrise-side, and bringup docs in order: docs/02_network_setup.md -> docs/03_sunrise_side_setup.md -> docs/04_hardware_bringup_checklist.md.

Repo layout

lbr_med_stack/
├── README.md                       # this file
├── LICENSE                         # Apache-2.0
├── lbr_med_stack.repos             # pinned vcs manifest (lbr_fri_ros2_stack@jazzy-v2.4.3)
├── .gitignore                      # src/ build/ install/ log/ (vcs sources never committed)
├── docs/
│   ├── 01_fresh_machine_setup.md   # ROS 2 Jazzy + overlay from scratch
│   ├── 02_network_setup.md         # FRI subnet, netplan, connectivity checks
│   ├── 03_sunrise_side_setup.md    # cabinet-side Sunrise / LBRServer setup
│   └── 04_hardware_bringup_checklist.md  # phased mock -> real bringup
└── examples/
    └── goto_pose/
        ├── goto_pose.py            # thin MoveItPy plan+execute to a CLI pose
        └── README.md               # mock-first usage

src/, build/, install/, log/ are git-ignored. The vendored sources come from vcs import, not from this repo.

Versioning

lbr_med_stack.repos pins lbr_fri_ros2_stack to a tag (jazzy-v2.4.3), not the moving jazzy branch, for reproducible builds. The FRI SDK (lbr-stack/fri) is pulled by the stack's own repos-fri-1.15.yaml, imported as the second vcs import step. Do not hand-pin the FRI tag; take it from that manifest.

Bumping the pinned tag

1. Pick the new tag from the lbr_fri_ros2_stack releases. Confirm it targets ROS 2 Jazzy and check its CHANGELOG for breaking launch-file or config changes.
2. Edit the version: field in lbr_med_stack.repos to the new tag.
3. Re-run the quickstart in a clean ~/lbr_med_ws (do not reuse a stale src/).
4. Re-verify the mock bringup gate (Phase 0 in docs/04_hardware_bringup_checklist.md) before touching the real robot.
5. If the FRI client version changes with the new release, update FRI_CLIENT_VERSION and the Sunrise.OS pairing in the docs.

License

Apache-2.0 (see LICENSE), matching the upstream lbr-stack license. Copyright 2026 Rotem Atari.