ROS-Industrial support for Universal Robots manipulators (metapackage).
- Maintainer status: developed
- Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>, Miguel Prada Sarasola <miguel.prada AT tecnalia DOT com>, Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>
- Author: Felix Messmer, Kelsey Hawkins, Shaun Edwards, Stuart Glaser, Wim Meeussen
- License: BSD
- Bug / feature tracker: https://github.com/ros-industrial/universal_robot/issues
- Source: git https://github.com/ros-industrial/universal_robot.git (branch: kinetic)
- Support level: community
EXPERIMENTAL: This status indicates that this software is experimental code at best. There are known issues and missing functionality. The APIs are completely unstable and likely to change. Use in production systems is not recommended. All code starts at this level. For more information see the ROS-Industrial software status page.
This stack is part of the ROS-Industrial program. It currently contains packages that provide nodes for communication with Universal's industrial robot controllers, URDF models for various robot arms and the associated MoveIt packages.
The ur_driver package should be compatible with most system versions, although has only been tested successfully with v1.8.16941 and older.
Polyscope up to v1.8.x
ur_modern_driver has been deprecated and will see no further development. For Polyscope versions up to and including v1.8.x, it may still be used.
Polyscope v3.x and v5.x
Users with CB3 or e-Series controllers must use ur_robot_driver instead.
For more information, refer to Deprecation of ur_modern_driver on ROS Discourse.
Robot descriptions and MoveIt packages
On supported Linux distributions (Ubuntu, up to 16.04 (Xenial), i386 and amd64):
sudo apt-get install ros-$ROS_DISTRO-universal-robots
The following instructions assume that a Catkin workspace has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.
In all other cases the packages will have to be build from sources in a Catkin workspace:
1 cd /path/to/catkin_ws/src 2 3 # retrieve the sources (replace '$DISTRO' with the ROS version you are using) 4 git clone -b $DISTRO-devel https://github.com/ros-industrial/universal_robot.git 5 6 cd /path/to/catkin_ws 7 8 # checking dependencies (replace '$DISTRO' with the ROS version you are using) 9 rosdep update 10 rosdep install --from-paths src --ignore-src --rosdistro $DISTRO 11 12 # building 13 catkin_make 14 15 # source this workspace (careful when also sourcing others) 16 source /path/to/catkin_ws/devel/setup.bash
The packages can now be used as regular ROS packages.
Refer to the catkin tutorials for more information on building catkin workspaces.
See the Tutorials page for an overview of the available tutorials.
Contact us/Technical support
For questions about this package or ROS-Industrial in general, please contact the developers by posting a message in the ROS-Industrial category on ROS Discourse.