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.

• Foxy (branch: foxy)
• Galactic (branch: galactic)
• Iron (branch: iron)

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

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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:

1. You are working against the latest source on the master branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
3. 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:

1. Fork the repository.
2. 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.
3. Ensure local tests pass.
4. Commit to your fork using clear commit messages.
5. Send a pull request, answering any default questions in the pull request interface.
6. 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.