Welcome to the Universal Robots ROS 2 documentation!

This repositorycontains documentation and ROS 2 packages for Universal Robots.

• ur_client_library
  • Build / installation
  • PolyScope version compatibility
  • Library architecture
    • DashboardClient
    • ReverseInterface
    • RTDEClient
    • Script Command Interface
    • ScriptSender
    • Trajectory Point Interface
    • UrDriver
  • Example driver
  • Setup for real-time scheduling
• ur_description
• ur_robot_driver
  • Overview
  • Installation
    • Installation of the ur_robot_driver
    • Setting up a UR robot for ur_robot_driver
    • Installing a URCap on a CB3 robot
    • Installing a URCap on a e-Series robot
    • Setup URSim with Docker
  • Usage
    • Startup the driver
    • Move the robot
    • Controllers
    • Simulation
    • Sending URScript code to the robot
  • Operation modes
  • Setting up the tool communication on an e-Series robot
  • UR Hardware interface parameters
  • Dashboard client
• ur_calibration
  • Usage
  • Calibration correction algorithm
• ur_controllers
• ur_moveit_config
• ur_simulation_gz
  • Installation
  • Usage
• Tutorial examples
  • Custom workcell
    • Assembling the URDF
    • Start the ur_robot_driver
    • Build the MoveIt! config
• Migration Notes
  • Iron to Jazzy
    • ur_robot_driver
    • ur_moveit_config
    • ur_description
    • ur_simulation_gz