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System architecture

Work in progress

A detailed description of the system architecture is being prepared.

LWC is built as a set of interconnected ROS 2 packages. Key components:

  • iiwa_bringup — launch files and the entry point for starting the system
  • iiwa_controller — hardware interface connecting to the KUKA controller over FRI
  • iiwa_planning — MoveIt 2-based motion planning
  • iiwa_web — REST API and MCP server for external control
  • iiwa_description — URDF robot description and Webots worlds
  • iiwa_config — configuration files for MoveIt, controllers, and cameras
  • iiwa_utils — helper Python utilities and configuration loading
  • iiwa_msgs — custom ROS 2 message types (action and srv)