# UR16e ROS Driver Support

**URL:** <https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395>\
**Category:** ROS\
**Created:** [October 23, 2019, 1:23am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395 "2019-10-23T01:23:24Z")\
**Posts on this page:** 10\
**Page:** 1

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**Author:** ![ajp](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ajp/32/471_2.png) [@ajp](https://forum.universal-robots.com/u/ajp)\
**Post date:** [October 23, 2019, 1:23am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/1 "2019-10-23T01:23:24Z")

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Hi @jbm,

I don’t see any support for the 16e in the Github repository. Will that be added?

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**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\
**Post date:** [October 23, 2019, 5:34am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/2 "2019-10-23T05:34:15Z")

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Basically, the biggest thing missing is the description missing on [universal\_robot/ur\_e\_description at kinetic-devel · ros-industrial/universal\_robot · GitHub](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).

I’ll have a look at this.

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**Author:** ![ajp](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ajp/32/471_2.png) [@ajp](https://forum.universal-robots.com/u/ajp)\
**Post date:** [October 24, 2019, 4:37am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/3 "2019-10-24T04:37:12Z")

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Alright, thanks for that.

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**Author:** ![anon65872039](https://avatars.discourse-cdn.com/v4/letter/a/a4c791/32.png) [@anon65872039](https://forum.universal-robots.com/u/anon65872039)\
**Post date:** [October 24, 2019, 6:02am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/4 "2019-10-24T06:02:20Z")

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Sounds great mauch, Do you have any eta on this issue?

Best Regards,  
Thomas

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**Author:** ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)\
**Post date:** [October 24, 2019, 7:15am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/5 "2019-10-24T07:15:26Z")

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I started working on that, but it doesn’t have the highest priority for me, currently. Mesh extraction and reduction takes up a lot of time for me, as I am no expert in that field. Therefore I cannot give an estimate on this, currently.

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**Author:** ![anon65872039](https://avatars.discourse-cdn.com/v4/letter/a/a4c791/32.png) [@anon65872039](https://forum.universal-robots.com/u/anon65872039)\
**Post date:** [October 24, 2019, 7:25am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/6 "2019-10-24T07:25:25Z")

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Fair enough, thanks for the reply though.

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**Author:** ![nah](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/nah/32/1589_2.png) [@nah](https://forum.universal-robots.com/u/nah)\
**Post date:** [December 18, 2019, 11:21am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/7 "2019-12-18T11:21:02Z")

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We’re still interested in an ETA on this issue.

Best regards  
Niels

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**Author:** ![anon24941150](https://avatars.discourse-cdn.com/v4/letter/a/a9a28c/32.png) [@anon24941150](https://forum.universal-robots.com/u/anon24941150)\
**Post date:** [December 18, 2019, 11:26am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/8 "2019-12-18T11:26:57Z")

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+1 to the list of interested parties here too

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**Author:** ![bent](https://avatars.discourse-cdn.com/v4/letter/b/a9adbd/32.png) [@bent](https://forum.universal-robots.com/u/bent)\
**Post date:** [March 12, 2021, 6:46am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/9 "2021-03-12T06:46:30Z")

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I am also interested in an ETA for this issue.

Is this ready for merging? [https://github.com/UniversalRobots/Universal\_Robots\_ROS\_Driver/pull/97](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/97)

I’m happy to help developing or testing

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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:** [March 17, 2021, 8:31am UTC](https://forum.universal-robots.com/t/ur16e-ros-driver-support/5395/10 "2021-03-17T08:31:55Z")

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Hi bent  
You are welcome to contribute.  
Please write your proposal in the mentioned [PR #97](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/97)