Installation

The ur_rtde_publisher package can be built from source.

Building from Source

Make sure ROS 2 is properly installed and sourced before proceeding.

1. Create a ROS 2 workspace:

export COLCON_WS=~/ros2_ws
mkdir -p $COLCON_WS/src

2. Clone the repository (replace <branch> with jazzy or main for rolling):

cd $COLCON_WS
git clone -b <branch> https://github.com/UniversalRobots/RTDE_ROS2_Publisher.git src/UR_RTDE_ROS2_Publisher

3. Install dependencies, build, and source the workspace:

rosdep update
rosdep install --ignore-src --from-paths src -y
colcon build  --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash