A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde

Alessio Saccuti; Riccardo Monica; Jacopo Aleotti

A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde

Robotics 2025-11-24 v1 Software Engineering

Authors: Alessio Saccuti , Riccardo Monica , Jacopo Aleotti

Abstract

In this paper a novel ROS2 driver for UR robot manipulators is presented, based on the ur_rtde C++ library. The proposed driver aims to be a flexible solution, adaptable to a wide range of applications. The driver exposes the high-level commands of Universal Robots URScripts, and custom commands can be added using a plugin system. Several commands have been implemented, including motion execution along a waypoint-based path. The driver is published as open source.

Cite

@article{arxiv.2511.17237,
  title  = {A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde},
  author = {Alessio Saccuti and Riccardo Monica and Jacopo Aleotti},
  journal= {arXiv preprint arXiv:2511.17237},
  year   = {2025}
}

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