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Package Summary

The new driver for the UR3/UR5/UR10 robot arms from universal robots

Package Summary

The new driver for Universal Robots UR3, UR5 and UR10 robots with CB2 and CB3 controllers.


This stack is part of the ROS-Industrial program. It currently contains packages that provide nodes for communication with Universal's industrial robot controllers.


We recommend users with newer system versions (v3.x and up) to use the ur_modern_driver package.

For system versions ranging from v1.5.7849 to v1.8.23117 the ur_driver package has been successfully tested and used.


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
   3 # retrieve the sources (note: "kinetic-devel" builds on Indigo, Kinetic and Melodic)
   4 git clone -b kinetic-devel https://github.com/ros-industrial/ur_modern_driver.git
   6 cd /path/to/catkin_ws
   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
  12 # building
  13 catkin build
  15 # activate the workspace (careful when also using other workspaces)
  16 source /path/to/catkin_ws/devel/setup.bash

The packages can now be used as regular ROS packages.

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2019-11-09 13:22