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
https://libiiwa.readthedocs.io/en/latest/
To cite this library in publications, please use the following reference:
@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}
}