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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.17237 |
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| _version_ | 1866909916336226304 |
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| author | Saccuti, Alessio Monica, Riccardo Aleotti, Jacopo |
| author_facet | Saccuti, Alessio Monica, Riccardo Aleotti, Jacopo |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_17237 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde Saccuti, Alessio Monica, Riccardo Aleotti, Jacopo Robotics Software Engineering 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. |
| title | A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde |
| topic | Robotics Software Engineering |
| url | https://arxiv.org/abs/2511.17237 |