# Universal Robots ROS driver v2.0 Release

**URL:** <https://forum.universal-robots.com/t/universal-robots-ros-driver-v2-0-release/16278>\
**Category:** ROS\
**Created:** [September 3, 2021, 9:15am UTC](https://forum.universal-robots.com/t/universal-robots-ros-driver-v2-0-release/16278 "2021-09-03T09:15:49Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Rune](https://avatars.discourse-cdn.com/v4/letter/r/e68b1a/32.png) [@Rune](https://forum.universal-robots.com/u/Rune)\
**Post date:** [September 3, 2021, 9:15am UTC](https://forum.universal-robots.com/t/universal-robots-ros-driver-v2-0-release/16278/1 "2021-09-03T09:15:49Z")

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**Dear community,**

A while back, [Universal Robots A/S](https://www.universal-robots.com/) and [FZI Foschungszentrum Informatik](https://www.fzi.de/en/home/) started a beta test for new features for the Open Source [Universal Robots ROS driver](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver). Please see the [beta announcement](https://discourse.ros.org/t/universal-robots-ros-driver-is-ready-for-beta-feedback/19466) for details on that.

We are happy to announce that those features have just been merged into the master branch of the driver while many features have been released standalone to also be used in conjunction with `ros_control` drivers and applications.

The Driver can be found at:

> **[GitHub - UniversalRobots/Universal\_Robots\_ROS\_Driver: Universal Robots ROS...](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver)**
>
> Universal Robots ROS driver supporting CB3 and e-Series - GitHub - UniversalRobots/Universal\_Robots\_ROS\_Driver: Universal Robots ROS driver supporting CB3 and e-Series

**New ROS-Control features**

We’ve created `ros_control` extensions making ROS manipulator drivers in general and the Universal Robots ROS driver in special more capable:

- **Cartesian control and trajectory execution:** [cartesian\_control\_msgs](https://github.com/UniversalRobots/Universal_Robots_ROS_cartesian_control_msgs), [ros\_controllers\_cartesian](https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian)

- **Generalized speed scaling interface** : [scaled\_controllers](https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers)

- **Trajectory interpolation on robot controller:** [pass\_through\_controllers](http://wiki.ros.org/pass_through_controllers)

**Package summary**

The following additional repositories/metapackages have been developed inside this project:

- `scaled_controllers` – Scaling interface to achieve speed-scaling  
functionality  
[https://github.com/UniversalRobots/Universal\_Robots\_ROS\_scaled\_controllers](https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers)

- `cartesian_control_msgs` – Message definition for Cartesian  
trajectories  
[https://github.com/UniversalRobots/Universal\_Robots\_ROS\_cartesian\_control\_msgs](https://github.com/UniversalRobots/Universal_Robots_ROS_cartesian_control_msgs)

- `ros_controllers_cartesian` – `ros_control` hardware interface  
definitions and controllers for Cartesian control of robot  
manipulators  
[https://github.com/UniversalRobots/Universal\_Robots\_ROS\_controllers\_cartesian](https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian)

- `pass_through_controllers` – A set of controllers to forward  
complete trajectories (joint-based and Cartesian) to the robot  
hardware and leave interpolation to the robot controller  
[https://github.com/UniversalRobots/Universal\_Robots\_ROS\_passthrough\_controllers](https://github.com/UniversalRobots/Universal_Robots_ROS_passthrough_controllers)

All packages of the repositories mentioned above are released for ROS melodic and noetic.

We hope that this contribution will not only improve your experience with Universal Robots manipulators inside a ROS environment, but also improve `ros_control` as a whole.

* * *

**Acknowledgement**

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  
More information: [rosin-project.eu](http://rosin-project.eu)

This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement no. 732287.

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [September 3, 2021, 9:38am UTC](https://forum.universal-robots.com/t/universal-robots-ros-driver-v2-0-release/16278/2 "2021-09-03T09:38:38Z")

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Pinned globally on September 3, 2021, 9:38am UTC