ur_client_library

This documentation should help you to get started with the UR Client Library. The UR Client Library is a C++ library that allows you to control a UR robot from a remote computer. The library is open-source and can be found on GitHub.

Contents:

• Build / installation
  • Plain cmake
  • Inside a ROS / ROS 2 workspace
    • ROS noetic
    • ROS 2
  • Use this library in other projects
• Setup a robot
  • Robot setup
    • URCap installation
  • Network setup
    • Robot setup
    • Remote PC setup
  • Setup URSim with Docker
    • Start a URSim docker container
    • External Control
    • Network setup
    • Script startup
• PolyScope version compatibility
  • Version-breaking changes
  • Features requiring a specific PolyScope version
    • Torque control (From version 2.4.0)
• Library architecture
  • DashboardClient
  • ReverseInterface
    • Communication protocol
      • Direct torque control mode
  • RTDEClient
    • RTDEWriter
  • Script Command Interface
    • Communication protocol
      • Data sent to the robot
      • Data sent from the robot
  • ScriptReader
    • Example
    • Supported Data
      • Data dictionary (C++ side)
      • Script code side
  • ScriptSender
  • Trajectory Point Interface
    • Communication protocol
  • UrDriver
    • Public helper functions
      • checkCalibration(const std::string checksum)
      • sendScript(const std::string& program)
  • Instruction Executor
  • Dataflow overview with UrDriver
• Usage examples
  • Dashboard client example
  • Force Mode example
    • Start force mode
    • Stop force mode
  • Freedrive Mode example
    • Start freedrive mode
    • Stop freedrive Mode
  • Instruction Executor example
    • Execute a sequence of motions
    • Execute a single motion
  • Primary Pipeline example
    • Producer setup
    • Consumer setup
    • Assemble the pipeline
  • Primary Pipeline Calibration example
    • Consumer setup
    • Assemble the pipeline
  • RTDE Client example
    • Creating an RTDE Client
    • Reading data from the RTDE client
    • Writing Data to the RTDE client
  • Script command interface
    • Sending script commands
  • Script Sender example
  • Spline Interpolation example
  • Tool Contact example
  • Torque control example
    • Initialization
    • Robot control loop
  • Trajectory Joint Interface example
    • Initialization
    • MoveJ Trajectory
    • MoveL Trajectory
    • Spline based interpolation
  • Example driver
    • Initialization
    • Robot control loop
• Setup for real-time scheduling
  • Installing a lowlatency-kernel
  • Setting up Ubuntu with a PREEMPT_RT kernel
    • Preparing
    • Getting the sources for a real-time kernel
      • Verification
    • Compilation
  • Setup user privileges to use real-time scheduling
  • Setup GRUB to always boot the lowlatency / real-time kernel
  • Reboot the PC
  • Check for preemption capabilities
  • Optional: Disable CPU speed scaling
• Migration notes
  • Migrating from 1.x.x to 2.x.x
• C++ API Reference