Universal Robots+

Universal Robots Software Architecture

Hi community! I am currenty gathering documentation about how the UR e-Series work, thinking about some ROS control and camera integration. However, I’ve spent some days looking for a clue about how is the software architecture of the robot. I know this is not strictly necessary because I can just use the ROS driver documentation and integrate the camera through an URCap and use ROS to control, but I would like to know if the robot is running over a modified version of Linux, if it’s running ROS or how is it structured internally.

I would like to know it in order to be able to modify and adapt the robot to my needs. The only info I got was from this link, but it’s just how the driver is interacting with the external interface.

Thanks in advance!

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Any ideas? Thanks for your help!