A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde

2025/11/21 by Saccuti, Alessio, Monica, Riccardo, Aleotti, Jacopo
#FOS: Computer and information sciences #Robotics (cs.RO) #Software Engineering (cs.SE)

paper · doi:10.48550/arxiv.2511.17237

Abstract

In this paper a novel ROS2 driver for UR robot manipulators is presented, based on the ur_rtde C++ library. The proposed driver aims to be a flexible solution, adaptable to a wide range of applications. The driver exposes the high-level commands of Universal Robots URScripts, and custom commands can be added using a plugin system. Several commands have been implemented, including motion execution along a waypoint-based path. The driver is published as open source.

Citations

• Combining Learning from Demonstration with Learning by Exploration to Facilitate Contact-Rich Tasks
• Speed and Separation Monitoring using on-robot Time--of--Flight\n laser--ranging sensor arrays

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