diff --git a/joss.06138/10.21105.joss.06138.crossref.xml b/joss.06138/10.21105.joss.06138.crossref.xml
new file mode 100644
index 0000000000..0c480f6720
--- /dev/null
+++ b/joss.06138/10.21105.joss.06138.crossref.xml
@@ -0,0 +1,281 @@
+
+
+
+ 20241115124828-65eda5a732b292742d7b99e683e47ee4bddd83bb
+ 20241115124828
+
+ JOSS Admin
+ admin@theoj.org
+
+ The Open Journal
+
+
+
+
+ Journal of Open Source Software
+ JOSS
+ 2475-9066
+
+ 10.21105/joss
+ https://joss.theoj.org
+
+
+
+
+ 11
+ 2024
+
+
+ 9
+
+ 103
+
+
+
+ LBR-Stack: ROS 2 and Python Integration of KUKA FRI for
+Med and IIWA Robots
+
+
+
+ Martin
+ Huber
+
+ School of Biomedical Engineering & Imaging Sciences, King’s College London, United Kingdom
+
+ https://orcid.org/0000-0003-4603-6773
+
+
+ Christopher E.
+ Mower
+
+ School of Biomedical Engineering & Imaging Sciences, King’s College London, United Kingdom
+
+ https://orcid.org/0000-0002-3929-9391
+
+
+ Sebastien
+ Ourselin
+
+ School of Biomedical Engineering & Imaging Sciences, King’s College London, United Kingdom
+
+ https://orcid.org/0000-0002-5694-5340
+
+
+ Tom
+ Vercauteren
+
+ School of Biomedical Engineering & Imaging Sciences, King’s College London, United Kingdom
+
+ https://orcid.org/0000-0003-1794-0456
+
+
+ Christos
+ Bergeles
+
+ School of Biomedical Engineering & Imaging Sciences, King’s College London, United Kingdom
+
+ https://orcid.org/0000-0002-9152-3194
+
+
+
+ 11
+ 15
+ 2024
+
+
+ 6138
+
+
+ 10.21105/joss.06138
+
+
+ http://creativecommons.org/licenses/by/4.0/
+ http://creativecommons.org/licenses/by/4.0/
+ http://creativecommons.org/licenses/by/4.0/
+
+
+
+ Software archive
+ 10.5281/zenodo.13897377
+
+
+ GitHub review issue
+ https://github.com/openjournals/joss-reviews/issues/6138
+
+
+
+ 10.21105/joss.06138
+ https://joss.theoj.org/papers/10.21105/joss.06138
+
+
+ https://joss.theoj.org/papers/10.21105/joss.06138.pdf
+
+
+
+
+
+ A Scalable and Unified Multi-Control
+Framework for KUKA LBR IIWA Collaborative Robots
+ Serrano-Muñoz
+ 2023 IEEE/SICE international symposium on
+system integration (SII)
+ 10.1109/SII55687.2023.10039308
+ 2023
+ Serrano-Muñoz, A., Elguea-Aguinaco,
+Í., Chrysostomou, D., BØgh, S., & Arana-Arexolaleiba, N. (2023). A
+Scalable and Unified Multi-Control Framework for KUKA LBR IIWA
+Collaborative Robots. 2023 IEEE/SICE International Symposium on System
+Integration (SII), 1–5.
+https://doi.org/10.1109/SII55687.2023.10039308
+
+
+ iiwa_ros: A ROS Stack for KUKA’s IIWA Robots
+Using the Fast Research Interface
+ Chatzilygeroudis
+ 2019
+ Chatzilygeroudis, K., Mayr, M.,
+Fichera, B., & Billard, A. (2019). iiwa_ros: A ROS Stack for KUKA’s
+IIWA Robots Using the Fast Research Interface.
+http://github.com/epfl-lasa/iiwa_ros
+
+
+ KUKA Sunrise Toolbox: Interfacing
+Collaborative Robots With MATLAB
+ Safeea
+ IEEE Robotics Automation
+Magazine
+ 1
+ 26
+ 10.1109/MRA.2018.2877776
+ 1070-9932
+ 2019
+ Safeea, M., & Neto, P. (2019).
+KUKA Sunrise Toolbox: Interfacing Collaborative Robots With MATLAB. IEEE
+Robotics Automation Magazine, 26(1), 91–96.
+https://doi.org/10.1109/MRA.2018.2877776
+
+
+ ROS 2 Stack for KUKA IIWA Collaborative
+Robots
+ Bednarczyk
+ GitHub repository
+ 2023
+ Bednarczyk, M., & Guzmán, J. H.
+G. (2023). ROS 2 Stack for KUKA IIWA Collaborative Robots. In GitHub
+repository. GitHub.
+https://github.com/ICube-Robotics/iiwa_ros2
+
+
+ Generic and Simple Controls Framework for ROS
+2
+ Magyar
+ GitHub repository
+ 2023
+ Magyar, B., Stogl, D., Knese, K.,
+& Community. (2023). Generic and Simple Controls Framework for ROS
+2. In GitHub repository. GitHub.
+https://github.com/ros-controls/ros2_control
+
+
+ Towards MRI-Based Autonomous Robotic US
+Acquisitions: A First Feasibility Study
+ Hennersperger
+ IEEE Transactions on Medical
+Imaging
+ 2
+ 36
+ 10.1109/TMI.2016.2620723
+ 2017
+ Hennersperger, C., Fuerst, B., Virga,
+S., Zettinig, O., Frisch, B., Neff, T., & Navab, N. (2017). Towards
+MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study.
+IEEE Transactions on Medical Imaging, 36(2), 538–548.
+https://doi.org/10.1109/TMI.2016.2620723
+
+
+ The Fast Research Interface for the KUKA
+Lightweight Robot
+ Schreiber
+ IEEE workshop on innovative robot control
+architectures for demanding (research) applications how to modify and
+enhance commercial controllers (ICRA 2010)
+ 2010
+ Schreiber, G., Stemmer, A., &
+Bischoff, R. (2010). The Fast Research Interface for the KUKA
+Lightweight Robot. IEEE Workshop on Innovative Robot Control
+Architectures for Demanding (Research) Applications How to Modify and
+Enhance Commercial Controllers (ICRA 2010),
+15–21.
+
+
+ Design and Use Paradigms for Gazebo, an
+Open-Source Multi-Robot Simulator
+ Koenig
+ 2004 IEEE/RSJ international conference on
+intelligent robots and systems (IROS) (IEEE cat.
+no.04CH37566)
+ 3
+ 10.1109/IROS.2004.1389727
+ 2004
+ Koenig, N., & Howard, A. (2004).
+Design and Use Paradigms for Gazebo, an Open-Source Multi-Robot
+Simulator. 2004 IEEE/RSJ International Conference on Intelligent Robots
+and Systems (IROS) (IEEE Cat. No.04CH37566), 3, 2149–2154 vol.3.
+https://doi.org/10.1109/IROS.2004.1389727
+
+
+ Robot Operating System 2: Design,
+Architecture, and Uses in the Wild
+ Macenski
+ Science Robotics
+ 66
+ 7
+ 10.1126/scirobotics.abm6074
+ 2022
+ Macenski, S., Foote, T., Gerkey, B.,
+Lalancette, C., & Woodall, W. (2022). Robot Operating System 2:
+Design, Architecture, and Uses in the Wild. Science Robotics, 7(66).
+https://doi.org/10.1126/scirobotics.abm6074
+
+
+ ros_control: A Generic and Simple Control
+Framework for ROS
+ Chitta
+ The Journal of Open Source
+Software
+ 10.21105/joss.00456
+ 2017
+ Chitta, S., Marder-Eppstein, E.,
+Meeussen, W., Pradeep, V., Rodríguez Tsouroukdissian, A., Bohren, J.,
+Coleman, D., Magyar, B., Raiola, G., Lüdtke, M., & Fernández
+Perdomo, E. (2017). ros_control: A Generic and Simple Control Framework
+for ROS. The Journal of Open Source Software.
+https://doi.org/10.21105/joss.00456
+
+
+ Reducing the Barrier to Entry of Complex
+Robotic Software: A MoveIt! Case Study
+ Coleman
+ arXiv preprint
+arXiv:1404.3785
+ 10.6092/JOSER_2014_05_01_p3
+ 2014
+ Coleman, D., Sucan, I., Chitta, S.,
+& Correll, N. (2014). Reducing the Barrier to Entry of Complex
+Robotic Software: A MoveIt! Case Study. arXiv Preprint arXiv:1404.3785.
+https://doi.org/10.6092/JOSER_2014_05_01_p3
+
+
+
+
+
+
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--- /dev/null
+++ b/joss.06138/paper.jats/10.21105.joss.06138.jats
@@ -0,0 +1,696 @@
+
+
+
+
+
+
+
+Journal of Open Source Software
+JOSS
+
+2475-9066
+
+Open Journals
+
+
+
+6138
+10.21105/joss.06138
+
+LBR-Stack: ROS 2 and Python Integration of KUKA FRI for
+Med and IIWA Robots
+
+
+
+https://orcid.org/0000-0003-4603-6773
+
+Huber
+Martin
+
+
+*
+
+
+https://orcid.org/0000-0002-3929-9391
+
+Mower
+Christopher E.
+
+
+
+
+https://orcid.org/0000-0002-5694-5340
+
+Ourselin
+Sebastien
+
+
+
+
+https://orcid.org/0000-0003-1794-0456
+
+Vercauteren
+Tom
+
+
+
+
+https://orcid.org/0000-0002-9152-3194
+
+Bergeles
+Christos
+
+
+
+
+
+School of Biomedical Engineering & Imaging Sciences,
+King’s College London, United Kingdom
+
+
+
+
+* E-mail:
+
+
+21
+11
+2023
+
+9
+103
+6138
+
+Authors of papers retain copyright and release the
+work under a Creative Commons Attribution 4.0 International License (CC
+BY 4.0)
+2024
+The article authors
+
+Authors of papers retain copyright and release the work under
+a Creative Commons Attribution 4.0 International License (CC BY
+4.0)
+
+
+
+C++
+Python
+ROS 2
+KUKA LBR Med
+KUKA LBR IIWA
+Hard Real-time
+
+
+
+
+
+
Supported robots in the LBR-Stack. From left to right:
+ KUKA LBR IIWA 7 R800, IIWA 14 R820, Med 7 R800, Med 14 R820.
+ Visualizations made using Foxglove
+ 1.
+
+
+
+ Summary
+
The LBR-Stack is a collection of packages
+ that simplify the usage and extend the capabilities of KUKA’s Fast
+ Robot Interface (FRI)
+ (Schreiber
+ et al., 2010). 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
+ (Koenig
+ & Howard, 2004) and for communication with real hardware. A
+ demo video can be found
+ here.
+ An overview of the software architecture is shown in Figure
+ [fig:fri].
+
At the LBR-Stack’s core is the following
+ package:
+
+
+
fri: Integration of KUKA’s original FRI client
+ library into CMake:
+ link.
+
+
+
All other packages are built on top. These include Python bindings
+ and packages for integration into the Robot Operating System (ROS) and
+ ROS 2:
+
+
+
pyfri: Python bindings for the fri:
+ link.
+
+
+
lbr_fri_ros2_stack: ROS 1/2 integration of the
+ KUKA LBRs through the fri:
+ link.
+
+
+
For brevity, and due to the architectural advantages over ROS
+ (Macenski
+ et al., 2022), only ROS 2 is considered in the following. The
+ lbr_fri_ros2_stack comprises the following packages:
+
+
+
lbr_bringup: Python library for launching the
+ different components.
+
+
+
lbr_description: Description files for the
+ Med7/14 and IIWA7/14
+ robots.
+
+
+
lbr_demos: Demonstrations for simulation and the
+ real robots.
+
+
+
lbr_fri_idl: Interface Definition Language (IDL)
+ equivalent of FRI protocol buffers.
+
+
+
lbr_fri_ros2: FRI ROS 2 interface through
+ realtime_tools
+ (Chitta
+ et al., 2017).
+
+
+
lbr_ros2_control: Interface and controllers for
+ ros2_control
+ (Magyar
+ et al., 2023).
+
+
+
lbr_moveit_config: MoveIt 2 configurations
+ (Coleman
+ et al., 2014).
+
+
+
+
An overview of the overall software architecture. There
+ exists a single source for KUKA’s FRI. This design facilitates that
+ downstream packages, i.e. the Python bindings and the ROS 2 package,
+ can easily support multiple FRI versions. The ROS 2 side utilizes
+ vcstool2.
+
+
+
+
+ Statement of need
+
An overview of existing work that interfaces the KUKA LBRs from an
+ external computer is given in Table 1. We broadly classify these works
+ into custom communication solutions
+ (Hennersperger
+ et al., 2017;
+ Safeea
+ & Neto, 2019;
+ Serrano-Muñoz
+ et al., 2023) and communication solutions through KUKA’s FRI
+ UDP channel
+ (Bednarczyk
+ & Guzmán, 2023;
+ Chatzilygeroudis
+ et al., 2019). The former can offer greater flexibility while
+ the latter offer a well defined interface and direct software support
+ from KUKA. Contrary to the custom communication solutions, the FRI
+ solutions additionally enable hard real-time communication, that is
+ beneficial for mission critical development. Stemming from
+ translational medical research, this work therefore focuses on the
+ FRI.
+
Limitations with the current FRI solutions are:
+
+
+
Only support IIWA 7/14 robots, not
+ Med 7/14.
+
+
+
Don’t provide Python bindings.
+
+
+
Don’t support multiple FRI versions:
+
+
+
Modified FRI client source code
+ iiwa_ros.
+
+
+
FRI client library tangled into the source code
+ iiwa_ros2.
+
+
+
+
+
Partial support of FRI functionality. Both,
+ iiwa_ros
+ and
+ iiwa_ros2,
+ exclusively aim at providing implementations of the ROS 1/2
+ hardware abstraction layer. This does not support:
+
+
+
FRI’s cartesian impedance control mode.
+
+
+
FRI’s cartesian control mode (FRI version 2 and above).
+
+
+
+
+
The first original contribution of this work is to add support for
+ the KUKA LBR Med 7/14 robots, which, to the
+ best author’s knowledge, does not exist in any other work. The second
+ novel contribution of this work is to provide Python bindings. This
+ work solves the support for multiple FRI versions by treating the FRI
+ library as an externally provided library by separating it into the
+ fri package, which leaves the FRI’s source code untouched
+ and simply provides build support. The partial support for the FRI
+ functionality is solved by defining an IDL message to KUKA’s
+ nanopb command and state protocol buffers in
+ lbr_fri_idl. These messages can then be interfaced from
+ ROS 1/2 topics via simple controllers or from the ROS 1/2 hardware
+ abstraction layer.
+
+
+
Overview of existing frameworks for interfacing the KUKA LBRs.
+ A square indicates support for the respective feature. List of
+ abbreviations: Hard Real-time (RT), Position Control
+ (Pos), Impedance Control (Imp),
+ Cartesian Impedance Control (Cart Imp), Hardware
+ Interface (HW IF).
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Framework
+
IIWA
+
Med
+
ROS
+
ROS 2
+
RT
+
FRI
+
pyfri
+
Pos
+
Imp
+
Cart Imp
+
HW IF
+
+
+
+
+
lbr-stack
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+
iiwa_ros
+
+
+ •
+
+
+
+ •
+
+
+
+ •
+
+
+ •
+
+
+
+ •
+
+
+ •
+
+
+
+ •
+
+
+
iiwa_ros2
+
+
+ •
+
+
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+
+ •
+
+
+ •
+
+
+
+ •
+
+
+
iiwa-stack
+
+
+ •
+
+
+
+ •
+
+
+
+
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+
+
libiiwa
+
+
+ •
+
+
+
+ •
+
+
+ •
+
+
+
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+
+
KST-KUKA
+
+
+ •
+
+
+
+
+
+
+
+
+ •
+
+
+ •
+
+
+ •
+
+
+
+
+
+
+
+ Acknowledgement
+
We want to acknowledge the work in Hennersperger et al.
+ (2017),
+ as their MoveIt configurations were utilized in a first iteration of
+ this project.
+
This work was supported by core funding from the Wellcome/EPSRC
+ [WT203148/Z/16/Z; NS/A000049/1], the European Union’s Horizon 2020
+ research and innovation programme under grant agreement No 101016985
+ (FAROS project), and EPSRC under the UK Government Guarantee Extension
+ (EP/Y024281/1, VITRRO).
+
+
+
+
+
+
+
+
+ Serrano-MuñozAntonio
+ Elguea-AguinacoÍñigo
+ ChrysostomouDimitris
+ BØghSimon
+ Arana-ArexolaleibaNestor
+
+ A Scalable and Unified Multi-Control Framework for KUKA LBR IIWA Collaborative Robots
+ 2023 IEEE/SICE international symposium on system integration (SII)
+ 2023
+
+ 10.1109/SII55687.2023.10039308
+ 1
+ 5
+
+
+
+
+
+ ChatzilygeroudisKonstantinos
+ MayrMatthias
+ FicheraBernardo
+ BillardAude
+
+ iiwa_ros: A ROS Stack for KUKA’s IIWA Robots Using the Fast Research Interface
+ 2019
+ http://github.com/epfl-lasa/iiwa_ros
+
+
+
+
+
+ SafeeaM.
+ NetoP.
+
+ KUKA Sunrise Toolbox: Interfacing Collaborative Robots With MATLAB
+ IEEE Robotics Automation Magazine
+ 2019
+ 26
+ 1
+ 1070-9932
+ 10.1109/MRA.2018.2877776
+ 91
+ 96
+
+
+
+
+
+ BednarczykMaciej
+ GuzmánJuan Helios García
+
+ ROS 2 Stack for KUKA IIWA Collaborative Robots
+ GitHub repository
+ GitHub
+ 2023
+ https://github.com/ICube-Robotics/iiwa_ros2
+
+
+
+
+
+ MagyarBence
+ StoglDenis
+ KneseKarsten
+ Community
+
+ Generic and Simple Controls Framework for ROS 2
+ GitHub repository
+ GitHub
+ 2023
+ https://github.com/ros-controls/ros2_control
+
+
+
+
+
+ HennerspergerChristoph
+ FuerstBernhard
+ VirgaSalvatore
+ ZettinigOliver
+ FrischBenjamin
+ NeffThomas
+ NavabNassir
+
+ Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study
+ IEEE Transactions on Medical Imaging
+ 2017
+ 36
+ 2
+ 10.1109/TMI.2016.2620723
+ 538
+ 548
+
+
+
+
+
+ SchreiberGünter
+ StemmerAndreas
+ BischoffRainer
+
+ The Fast Research Interface for the KUKA Lightweight Robot
+ IEEE workshop on innovative robot control architectures for demanding (research) applications how to modify and enhance commercial controllers (ICRA 2010)
+ Citeseer
+ 2010
+ 15
+ 21
+
+
+
+
+
+ KoenigN.
+ HowardA.
+
+ Design and Use Paradigms for Gazebo, an Open-Source Multi-Robot Simulator
+ 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS) (IEEE cat. no.04CH37566)
+ 2004
+ 3
+ 10.1109/IROS.2004.1389727
+ 2149
+ 2154 vol.3
+
+
+
+
+
+ MacenskiSteven
+ FooteTully
+ GerkeyBrian
+ LalancetteChris
+ WoodallWilliam
+
+ Robot Operating System 2: Design, Architecture, and Uses in the Wild
+ Science Robotics
+ American Association for the Advancement of Science (AAAS)
+ 202205
+ 7
+ 66
+ https://doi.org/10.1126%2Fscirobotics.abm6074
+ 10.1126/scirobotics.abm6074
+
+
+
+
+
+ ChittaSachin
+ Marder-EppsteinEitan
+ MeeussenWim
+ PradeepVijay
+ Rodríguez TsouroukdissianAdolfo
+ BohrenJonathan
+ ColemanDavid
+ MagyarBence
+ RaiolaGennaro
+ LüdtkeMathias
+ Fernández PerdomoEnrique
+
+ ros_control: A Generic and Simple Control Framework for ROS
+ The Journal of Open Source Software
+ 2017
+ http://www.theoj.org/joss-papers/joss.00456/10.21105.joss.00456.pdf
+ 10.21105/joss.00456
+
+
+
+
+
+ ColemanDavid
+ SucanIoan
+ ChittaSachin
+ CorrellNikolaus
+
+ Reducing the Barrier to Entry of Complex Robotic Software: A MoveIt! Case Study
+ arXiv preprint arXiv:1404.3785
+ 2014
+ 10.6092/JOSER_2014_05_01_p3
+
+
+
+
+
+