How does ROS communicate with UR?

vatsal1401 · August 31, 2025, 9:19am

If its from sockets, does it use servoJ when its sending coustom trajactories from Moveit or is there any other command?

dmytro.kharchenko · September 1, 2025, 8:33am

github.com/UniversalRobots/Universal_Robots_ROS_Driver

README.md

master

[![Build badge](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/workflows/Industrial%20CI%20pipeline/badge.svg?branch=master&event=push)](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/actions)

# Universal_Robots_ROS_Driver
Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.

<div align="center"><img src="ur_robot_driver/doc/initial_setup_images/family_photo.png" alt="Universal Robot e-Series family" style="width: 90%;"/></div>

With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.

It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features.

## Acknowledgment
This driver is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver).

Developed in collaboration between:

[<img height="60" alt="Universal Robots A/S" src="ur_robot_driver/doc/resources/ur_logo.jpg">](https://www.universal-robots.com/) &nbsp; and &nbsp;
[<img height="60" alt="FZI Research Center for Information Technology" src="ur_robot_driver/doc/resources/fzi-logo_transparenz.png">](https://www.fzi.de).

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How does ROS communicate with UR?

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