UniversalRobots/Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series

What it solves

This project provides a ROS2-based driver for Universal Robots (UR) robotic manipulators, enabling developers to control and integrate these industrial cobots into the ROS2 ecosystem. It bridges the gap between the robot's proprietary hardware and the ROS2 middleware, allowing for advanced motion planning and control.

How it works

Built on top of the Universal Robots Client Library, the driver acts as a hardware interface that communicates with the robot's controller (PolyScope X, 5, or CB3). It utilizes ROS2 to reduce latency and improve security. The system includes a set of packages for calibration, specific robot controllers, and dashboard messages. It also integrates with MoveIt2 for trajectory planning and collision avoidance.

Who it’s for

It is designed for engineers, researchers, and educators using Universal Robots manipulators (ranging from 3kg to 30kg payload) who want to leverage ROS2 for robot control and automation.

Highlights

  • Broad Compatibility: Supports the entire line of UR robots and multiple controller versions.
  • MoveIt2 Integration: Built-in support for trajectory planning and free-space motion planning around collision objects.
  • Safety Features: Supports cobot-specific functions like emergency stops, safeguard stops, and automatic/manual speed scaling.
  • C-Robot Integration: Allows the inclusion of ROS2 behaviors directly into robot programs via the externalControl URCap.

Related

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    UniversalRobots/Universal_Robots_ROS_Driver

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