Welcome to ur_robot_driver’s documentation!

Contents:

• Overview
  • Feature list and roadmap
• Installation
  • Installation of the ur_robot_driver
  • Setting up Ubuntu with a PREEMPT_RT kernel
  • Setting up a UR robot for ur_robot_driver
  • Installing a URCap on a CB3 robot
  • Installing a URCap on a e-Series robot
  • Setup URSim with Docker
• Usage
  • Launch files
  • Modes of operation
  • Example Commands for Testing the Driver
  • Using MoveIt
  • Robot frames
  • Custom URScript commands
• Setting up the tool communication on an e-Series robot
  • Robot setup
  • Setup the ROS side
• ROS interface
  • Nodes
• C++ API
  • Class Hierarchy
  • File Hierarchy
  • Full C++ API

Indices and tables

• Index