Package Summary

Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.

Maintainer status: developed
Maintainer: Felix Exner <exner AT fzi DOT de>
Author: Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
License: Apache-2.0, BSD-2-Clause, Zlib, MIT
Bug / feature tracker: https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues
Source: git https://github.com/UniversalRobots/Universal_Robots_Client_Library.git (branch: boost)

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Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.

Maintainer status: developed
Maintainer: Felix Exner <exner AT fzi DOT de>
Author: Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
License: Apache-2.0, BSD-2-Clause, Zlib
Bug / feature tracker: https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues
Source: git https://github.com/UniversalRobots/Universal_Robots_Client_Library.git (branch: master)

Package Links

Dependencies (1)
Jenkins jobs (6)

Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.

Maintainer status: developed
Maintainer: Felix Exner <feex AT universal-robots DOT com>, Rune Søe-Knudsen <rsk AT universal-robots DOT com>, Universal Robots A/S <ros AT universal-robots DOT com>
Author: Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
License: Apache-2.0, BSD-2-Clause, Zlib
Bug / feature tracker: https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues
Source: git https://github.com/UniversalRobots/Universal_Robots_Client_Library.git (branch: master)

Contents

Overview

This package contains the C++ library for accessing Universal Robots robotic arms from the CB3- or e-Series. It is the base of the ur_robot_driver.

This package does not support CB2 controllers.

For robots with Polyscope v1.8.x or older, please see whether ur_modern_driver is sufficient.

Make sure the controller runs v3.7 or newer for CB3, or v5.1 or newer for e-Series controllers.

Currently, this library contains the following components:

Basic primary interface: The primary interface isn't fully implemented at the current state and provides only basic functionality. See A word on the primary / secondary interface for further information about the primary interface.
RTDE interface: The RTDE interface is fully supported by this library. See RTDEClient for further information on how to use this library as an RTDE client.
Dashboard interface: The Dashboard server can be accessed directly from C++ through helper functions using this library.
Custom motion streaming: This library was initially developed as part of the Universal Robots ROS driver. Therefore, it also contains a mechanism to do data streaming through a custom socket, e.g. to perform motion command streaming.

Most documentation is handled inside the Githhub README files.