# How to move the ur3e with ros2 after i installed everything

**URL:** <https://forum.universal-robots.com/t/how-to-move-the-ur3e-with-ros2-after-i-installed-everything/35694>\
**Category:** ROS\
**Created:** [August 16, 2024, 6:36am UTC](https://forum.universal-robots.com/t/how-to-move-the-ur3e-with-ros2-after-i-installed-everything/35694 "2024-08-16T06:36:07Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![itziksep1510](https://avatars.discourse-cdn.com/v4/letter/i/c5a1d2/32.png) [@itziksep1510](https://forum.universal-robots.com/u/itziksep1510)\
**Post date:** [August 16, 2024, 6:36am UTC](https://forum.universal-robots.com/t/how-to-move-the-ur3e-with-ros2-after-i-installed-everything/35694/1 "2024-08-16T06:36:08Z")

</div>

(I would like to preface this by saying we’re new but at the same time we’ve tried making this ur3e work with ros2 for a few weeks.)

Hey all, we gave up on the Moveit extention for the ros-humble-ur binary package we installed, and we want to see our robot (ur3e) physically move. in the guide that is given in github, they recommend that we run this command: (specifically for our robot)

ros2 launch ur\_robot\_driver ur\_control.launch.py ur\_type:=ur3e robot\_ip:=192.168.0.10 launch\_rviz:=false

which works well, and after that we enable the external control from the teach pendant. which also signals to us from the terminal when we ran the ur\_robot\_driver that the connection is established. with ros2 topic list we see these topics:

/dynamic\_joint\_states  
/force\_torque\_sensor\_broadcaster/transition\_event  
/force\_torque\_sensor\_broadcaster/wrench  
/forward\_position\_controller/commands  
/forward\_position\_controller/transition\_event  
/io\_and\_status\_controller/io\_states  
/io\_and\_status\_controller/robot\_mode  
/io\_and\_status\_controller/robot\_program\_running  
/io\_and\_status\_controller/safety\_mode  
/io\_and\_status\_controller/tool\_data  
/io\_and\_status\_controller/transition\_event  
/joint\_state\_broadcaster/transition\_event  
/joint\_states  
/parameter\_events  
/robot\_description  
/rosout  
/scaled\_joint\_trajectory\_controller/controller\_state  
/scaled\_joint\_trajectory\_controller/joint\_trajectory  
/scaled\_joint\_trajectory\_controller/state  
/scaled\_joint\_trajectory\_controller/transition\_event  
/speed\_scaling\_state\_broadcaster/speed\_scaling  
/speed\_scaling\_state\_broadcaster/transition\_event  
/tf  
/tf\_static  
/urscript\_interface/script\_command

now, when subscribing to the /joint\_states topic, the positions of my robot(physically, in the lab) are these:

name:

- shoulder\_lift\_joint
- elbow\_joint
- wrist\_1\_joint
- wrist\_2\_joint
- wrist\_3\_joint
- shoulder\_pan\_joint  
position:
- 

```
 -1.820538183251852

```

- 

```
 -0.9140301942825317

```

- 

```
 -1.9646245441832484

```

- 

```
1.6723852157592773

```

- 

```
 -3.0138044993029993

```

- 

```
  -1.3477075735675257

```

additionaly in the github, they recommended we run this command just to see the robot move in the real world through ros:

ros2 launch ur\_robot\_driver test\_joint\_trajectory\_controller.launch.py

which works just fine, and the robot does move in the real world according to the positions in recieves from that yaml file.

HOWEVER, they say the following right after: “In case you want to write your own ROS node to move the robot, there is an example python node included that you can use as a start.”

ros2 run ur\_robot\_driver example\_move.py

this right here above this line is supposed to be a thing, but it isnt. i dont have a file in my system called “example\_move.py” and therefore the above command does not execute. can anyone help me in creating a node/script like what is supposed to be above for my own needs?

ADDITIONALY, i extracted the calibration yaml file from my robot as they recommend in the github page, but i dont know what to do with it, do you use it when you start up the robot with the ur\_robot\_driver?

sorry for the long post guys, but we’re kinda lost right now and really need some help as there is no one in our area who can help us…  
thanks a lot in advance!