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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

Robot description and MoveIt configurations from the universal_robot stack can still be used, and will see updates in the near future to work with ur_robot_driver.


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
   3 # retrieve the sources (replace '$DISTRO' with the ROS version you are using)
   4 git clone -b $DISTRO-devel https://github.com/ros-industrial/universal_robot.git
   6 cd /path/to/catkin_ws
   8 # checking dependencies (replace '$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_make
  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.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

2024-07-20 14:46