{"ID":2838607,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.17237","arxiv_id":"2511.17237","title":"A ROS2 Interface for Universal Robots Collaborative Manipulators Based on ur_rtde","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.","short_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 pl...","url_abs":"https://arxiv.org/abs/2511.17237","url_pdf":"https://arxiv.org/pdf/2511.17237v1","authors":"[\"Alessio Saccuti\",\"Riccardo Monica\",\"Jacopo Aleotti\"]","published":"2025-11-21T13:29:23Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.SE\"]","methods":"[]","has_code":false}