Discover UniversalRobots/PickOrPlaceHTML Open Source project

Universal Robots ROS2 driver supporting CB3 and e-Series

741

Universal_Robots_ROS2_Driver

A C++ library for accessing the UR interfaces that facilitate the use of UR robotic manipulators by external applications.

399

Universal_Robots_Client_Library

ROS2 URDF description for Universal Robots

117

Universal_Robots_ROS2_Description

RTDE client library and examples

113

RTDE_Python_Client_Library

CB3 and E-Series URCap for the ROS and ROS2 drivers

100

Universal_Robots_ExternalControl_URCap

Universal_Robots_ROS2_Gazebo_Simulation

ROS control hardware interface definitions and controllers for Cartesian control of robot manipulators.

Universal_Robots_ROS_controllers_cartesian

Driver enabling NVIDIA Isaac SDK operation of UR robots.

Universal_Robots_Isaac_Driver

Universal_Robots_ROS2_GZ_Simulation

Tutorials around the Universal Robots ROS (1) ecosystem

Universal_Robots_ROS_Tutorials

Utility to forward the UR Tool Communication Interface (RS-485) to a remote PC.

Universal_Robots_ToolComm_Forwarder_URCap

ROS controllers to forward complete trajectories (joint-based and Cartesian) to the robot hardware and leave interpolation to the robot controller.

Universal_Robots_ROS_passthrough_controllers

This URCap makes a universal robot part of a ROS system by making ROS calls available inside Polyscope through the rosbridge.

Universal_Robots_ROS_as_a_Service_URCap

URCaps Hello World example using Swing UI

HelloWorldSwing

Message definition for Cartesian trajectories.

Universal_Robots_ROS_cartesian_control_msgs

CMake

PolyScopeX_URCap_SDK

Dockerfile

SimpleGripper

Demonstrates how to create a gripper driver contribution for a basic gripper

Repository containing the scaling_interface and the scaled trajectory controller.

Universal_Robots_ROS_scaled_controllers

This repository contains different examples for various URScript implementations.

URScript_Examples

URCap sample that mainly demonstrates the principle of DaemonContribution and DaemonService

MyDaemonSwing

Tutorials around the Universal Robots ROS 2 ecosystem

Universal_Robots_ROS2_Tutorials

Example of using the toolbar to incrementally jog the robot in Cartesian space by sending urscript over the primary client interface

URCap-Samples

MyToolbarJog

ROS release repository for the client library

Universal_Robots_Client_Library-release

CustomUserInput

Demonstrates how to use different types of user inputs for URCap Drivers.

Demonstrates how to contribute a Feature to PolyScope as well as how to store a Feature in the data model

CreateFeatureSwing

Example programs, and URScript snippets for Modbus communication,

ModbusExamples

MyDaemonHTML

URCap sample that mainly demonstrates the principle of DaemonContribution and DaemonService

URCap sample that mainly demonstrates the principle of RobotPositionCallback, WaypointNodeConfig and PoseFactory

EllipseHTML

URCap sample that mainly demonstrates the principle of SystemSettings, Localization and Unit

LocalizationHTML

URCap sample to demonstrate the usage of configuration builders for Direction and Until program nodes.

MoveUntilDetectionSwing

URCap sample that mainly demonstrates the principle of SwingToolbarService and SwingToolbarContribution

MyToolbar

URCap sample that mainly demonstrates the principle of ProgramModel, TreeNode and ProgramNodeFactory

PickOrPlaceSwing

Demonstrates how to use gripper devices in a template program node

GripAndReleaseSwing

URCap sample that mainly demonstrates the principle of Function and FunctionModel

ScriptFunctionSwing

URCap sample that mainly demonstrates the principle of KeyboardInput and InputValidationFactory

UserInput

Demonstrates how to create a gripper driver contribution for a more advanced gripper

AdvancedGripper

Demonstrates how to request and configure Tool IO exclusively from URCap

ToolIOControlSwing