# Arm\_api2 - c++ ROS 2 wrapper for MoveIt2! included UR support

**URL:** <https://forum.universal-robots.com/t/arm-api2-c-ros-2-wrapper-for-moveit2-included-ur-support/34736>\
**Category:** ROS\
**Created:** [June 13, 2024, 8:51am UTC](https://forum.universal-robots.com/t/arm-api2-c-ros-2-wrapper-for-moveit2-included-ur-support/34736 "2024-06-13T08:51:39Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![filip.zoric](https://avatars.discourse-cdn.com/v4/letter/f/dfb087/32.png) [@filip.zoric](https://forum.universal-robots.com/u/filip.zoric)\
**Post date:** [June 13, 2024, 8:51am UTC](https://forum.universal-robots.com/t/arm-api2-c-ros-2-wrapper-for-moveit2-included-ur-support/34736/1 "2024-06-13T08:51:39Z")

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Hi everyone,

Me and my colleagues have developed arm\_api2. Simple C++ wrapper for MoveIt2! and ROS 2 for using robot manipulators.  
With it you can easily commadn:

- cartesian trajectory
- joint trajectory
- end effector servoing

We also included support for the UR manipulators, and we tested it in simulation.  
We like to hear your thoughts, opinions and features that you would find useful!

You can find repository [here](https://github.com/CroboticSolutions/arm_api2).

Let us know how you like it!

Thanks!