![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | jazzy |
Last Updated | 2025-07-29 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 3.3.3 |
ur_calibration | 3.3.3 |
ur_controllers | 3.3.3 |
ur_dashboard_msgs | 3.3.3 |
ur_moveit_config | 3.3.3 |
ur_robot_driver | 3.3.3 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Note: A fundamental requirement for the driver is using Linux. Currently, there is no support for any other OS.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-29 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 4.1.0 |
ur_calibration | 4.1.0 |
ur_controllers | 4.1.0 |
ur_dashboard_msgs | 4.1.0 |
ur_moveit_config | 4.1.0 |
ur_robot_driver | 4.1.0 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Note: A fundamental requirement for the driver is using Linux. Currently, there is no support for any other OS.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-07-29 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 4.1.0 |
ur_calibration | 4.1.0 |
ur_controllers | 4.1.0 |
ur_dashboard_msgs | 4.1.0 |
ur_moveit_config | 4.1.0 |
ur_robot_driver | 4.1.0 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Note: A fundamental requirement for the driver is using Linux. Currently, there is no support for any other OS.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | galactic |
Last Updated | 2022-10-11 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur_bringup | 2.1.2 |
ur_calibration | 2.1.2 |
ur_controllers | 2.1.2 |
ur_dashboard_msgs | 2.1.2 |
ur_moveit_config | 2.1.2 |
ur_robot_driver | 2.1.2 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 16 kg payload and includes both the CB3 and the E-series.
Check also presentations and videos about this driver.
Build Status
ROS2 Distro | Foxy | Galactic | Humble | Rolling |
---|---|---|---|---|
Branch | foxy | galactic | main | main |
Build Status |
|
|
|
|
Execution Test |
|
File truncated at 100 lines [see the full file](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic/README.md)
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_description ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2023-04-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur_bringup | 2.0.2 |
ur_calibration | 2.0.2 |
ur_controllers | 2.0.2 |
ur_dashboard_msgs | 2.0.2 |
ur_description | 2.0.2 |
ur_moveit_config | 2.0.2 |
ur_robot_driver | 2.0.2 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 16 kg payload and includes both the CB3 and the E-series.
Build Status
ROS2 Distro | Foxy | Galactic | Humble | Rolling |
---|---|---|---|---|
Branch | foxy | galactic | main | main |
Build Status |
|
|
|
|
Execution Test |
|
|
|
NOTE: There are two build stages checking current and future compatibility of the driver.
- Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
![]() |
ur_robot_driver repositoryur ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | iron |
Last Updated | 2024-11-14 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.3.12 |
ur_calibration | 2.3.12 |
ur_controllers | 2.3.12 |
ur_dashboard_msgs | 2.3.12 |
ur_moveit_config | 2.3.12 |
ur_robot_driver | 2.3.12 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Foxy (EOL) | Galactic (EOL) | Humble | Iron | Rolling |
---|---|---|---|---|---|
Branch | foxy | galactic | humble | iron | main |
Release status |
|
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Getting Started
For getting started, you’ll basically need three steps:
- Install the driver
sudo apt-get install ros-rolling-ur
See the installation instructions for more details and source-build instructions.
- Start & Setup the robot. Once you’ve installed the driver, setup the robot and [create a program for external
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
![]() |
ur_robot_driver repositoryur ur_bringup ur_calibration ur_controllers ur_dashboard_msgs ur_moveit_config ur_robot_driver |
ROS Distro
|
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-07-17 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur | 2.8.1 |
ur_bringup | 2.8.1 |
ur_calibration | 2.8.1 |
ur_controllers | 2.8.1 |
ur_dashboard_msgs | 2.8.1 |
ur_moveit_config | 2.8.1 |
ur_robot_driver | 2.8.1 |
README
Universal Robots ROS2 Driver
Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
This driver is developed on top of Universal_Robots_Client_Library and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
The driver is compatible across the entire line of UR robots – from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
Check also presentations and videos about this driver.
Release Status
ROS2 Distro | Humble | Jazzy | Kilted | Rolling |
---|---|---|---|---|
Branch | humble | jazzy | main | main |
Release status |
|
|
|
|
The table above shows the build status for each package of this repo from the ROS buildfarm. For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.
EOL distros
The following distributions are End-Of-Line (EOL). Branches for these exist and released packages are probably available for an unknown amount of time, but it is recommended to upgrade to a supported distribution. For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
Packages in the Repository:
-
ur
- Meta-package that provides a single point of installation for the released packages. -
ur_bringup
- launch file and run-time configurations, e.g. controllers (DEPRECATED). -
ur_calibration
- tool for extracting calibration information from a real robot. -
ur_controllers
- implementations of controllers specific for UR robots. -
ur_dashboard_msgs
- package defining messages used by dashboard node. -
ur_moveit_config
- example MoveIt configuration for UR robots. -
ur_robot_driver
- driver / hardware interface for communication with UR robots.
Deprecation: The ur_bringup
package is deprecated and will be removed from Iron Irwini on.
System Requirements
Please see the requirements for the Universal_Robots_Client_Library, as this driver is build on top of Universal_Robots_Client_Library.
Getting Started
File truncated at 100 lines see the full file
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to Universal_Robots_ROS2_Driver
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Licensing
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-07-29 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur_calibration | 2.4.1 |
ur_dashboard_msgs | 2.4.1 |
ur_robot_driver | 2.4.1 |
README
Universal_Robots_ROS_Driver
Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.

With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features.
Acknowledgment
This driver is forked from the ur_modern_driver.
Developed in collaboration between:
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.
How to report an issue
Before creating an issue, please have a look at the Troubleshooting section of this document.
To create an issue on the Issue Board please use the default template.
How to get help
If you need help using this driver, please see the ROS-category in the UR+ Developer Forum.
Features
- Works for all CB3 (with software version >= 3.14.3) and e-Series (software >= 5.9.4) robots and uses the RTDE interface for communication, whenever possible.
- Factory calibration of the robot inside ROS to reach Cartesian targets precisely.
-
Realtime-enabled communication structure to robustly cope with the 2ms cycle time of the
e-Series. To use this, compile and run it on a kernel with the
PREEMPT_RT
patch enabled. (See the Real-time setup guide on how to achieve this) - Transparent integration of the teach-pendant. Using the URCaps system, a program is running on the robot that handles control commands sent from ROS side. With this, the robot can be paused, stopped and resumed without restarting the ROS driver. This will in the future also enable the usage of ROS-components as part of a more complex UR-program on the teach pendant. ROS-control of the robot can be quit using a service call to continue program execution on the TP.
- Use the robot’s speed-scaling. When speed scaling is active due to safety constraints or the
speed slider is used, this gets correctly handled on the ROS side, as well slowing down
trajectory execution accordingly.
Note: Other ros-controllers based on a position interface can be used with this driver, but may behave wrong if the speed slider isn’t set to 100% or if speed scaling slows down the robot. Also, the pausing function can only be used if the default scaled trajectory controller is used. - ROS-Service-based replacement of most every-day TP-interactions offer using UR robots without interacting with the teach pendant at all, if desired. The robot can be started, stopped and even recovery from safety events can be done using ROS service- and action calls. See the driver’s dashboard services and the robot_state_helper node for details.
- Use on-the-robot interpolation for both Cartesian and joint-based trajectories. This is extremely helpful if your application can not meet the real-time requirements of the driver. Special types of passthrough controllers forward the trajectories directly to the robot, which then takes care of interpolation between the waypoints to achieve best performance.
Please see the external feature list for a listing of all features supported by this driver.
Contents
This repository contains the new ur_robot_driver and a couple of helper packages, such as:
- ur_calibration: Package around extracting and converting a robot’s factory calibration information to make it usable by the robot_description.
- ur_dashboard_msgs: Message definitions used for interacting with the dashboard node.
- ur_robot_driver: The actual driver package.
Requirements
This driver requires a system setup with ROS. It is recommended to use Ubuntu 20.04 with ROS noetic.
To make sure that robot control isn’t affected by system latencies, it is highly recommended to use a real-time kernel with the system. See the real-time setup guide on information how to set this up.
Install from binary packages
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-07-29 |
Dev Status | DEVELOPED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
ur_calibration | 2.4.1 |
ur_dashboard_msgs | 2.4.1 |
ur_robot_driver | 2.4.1 |
README
Universal_Robots_ROS_Driver
Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.

With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features.
Acknowledgment
This driver is forked from the ur_modern_driver.
Developed in collaboration between:
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.
How to report an issue
Before creating an issue, please have a look at the Troubleshooting section of this document.
To create an issue on the Issue Board please use the default template.
How to get help
If you need help using this driver, please see the ROS-category in the UR+ Developer Forum.
Features
- Works for all CB3 (with software version >= 3.14.3) and e-Series (software >= 5.9.4) robots and uses the RTDE interface for communication, whenever possible.
- Factory calibration of the robot inside ROS to reach Cartesian targets precisely.
-
Realtime-enabled communication structure to robustly cope with the 2ms cycle time of the
e-Series. To use this, compile and run it on a kernel with the
PREEMPT_RT
patch enabled. (See the Real-time setup guide on how to achieve this) - Transparent integration of the teach-pendant. Using the URCaps system, a program is running on the robot that handles control commands sent from ROS side. With this, the robot can be paused, stopped and resumed without restarting the ROS driver. This will in the future also enable the usage of ROS-components as part of a more complex UR-program on the teach pendant. ROS-control of the robot can be quit using a service call to continue program execution on the TP.
- Use the robot’s speed-scaling. When speed scaling is active due to safety constraints or the
speed slider is used, this gets correctly handled on the ROS side, as well slowing down
trajectory execution accordingly.
Note: Other ros-controllers based on a position interface can be used with this driver, but may behave wrong if the speed slider isn’t set to 100% or if speed scaling slows down the robot. Also, the pausing function can only be used if the default scaled trajectory controller is used. - ROS-Service-based replacement of most every-day TP-interactions offer using UR robots without interacting with the teach pendant at all, if desired. The robot can be started, stopped and even recovery from safety events can be done using ROS service- and action calls. See the driver’s dashboard services and the robot_state_helper node for details.
- Use on-the-robot interpolation for both Cartesian and joint-based trajectories. This is extremely helpful if your application can not meet the real-time requirements of the driver. Special types of passthrough controllers forward the trajectories directly to the robot, which then takes care of interpolation between the waypoints to achieve best performance.
Please see the external feature list for a listing of all features supported by this driver.
Contents
This repository contains the new ur_robot_driver and a couple of helper packages, such as:
- ur_calibration: Package around extracting and converting a robot’s factory calibration information to make it usable by the robot_description.
- ur_dashboard_msgs: Message definitions used for interacting with the dashboard node.
- ur_robot_driver: The actual driver package.
Requirements
This driver requires a system setup with ROS. It is recommended to use Ubuntu 20.04 with ROS noetic.
To make sure that robot control isn’t affected by system latencies, it is highly recommended to use a real-time kernel with the system. See the real-time setup guide on information how to set this up.
Install from binary packages
File truncated at 100 lines see the full file