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Universal Robots ROS driver supporting CB3 and e-Series
| Date | Stars |
|---|---|
| 2026-07-24 | 882 |
| 2026-07-25 | 882 |
| 2026-07-28 | 883 |
| 2026-07-30 | 883 |
| 2026-08-06 | 883 |
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[](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/actions)
# Universal_Robots_ROS_Driver
> [!IMPORTANT]
> ROS 1 is End Of Life since end of May 2025. This repository isn't further developed anymore.
> Bugfixes may or may not be added to this repository. There are no further binary releases for any
> ROS 1 distribution from the ROS repositories. If you want to use a newer version than the last
> one released, please either build from source or use the binary packages from the [ROS-O
> project](https://github.com/ros-o).
Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.
<div align="center"><img src="ur_robot_driver/doc/initial_setup_images/family_photo.png" alt="Universal Robot e-Series family" style="width: 90%;"/></div>
With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
It is the core value of Universal Robots, to empower people to achieve any goal within automation. The success criteria of this driver release is to follow this vision, by providing the ROS community with an easy to use, stable and powerful driver, that empowers the community to reach their goals in research and automation without struggling with unimportant technical challenges, instability or lacking features.
## Acknowledgment
This driver is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver).
Developed in collaboration between:
[<img height="60" alt="Universal Robots A/S" src="ur_robot_driver/doc/resources/ur_logo.jpg">](https://www.universal-robots.com/) and
[<img height="60" alt="FZI Research Center for Information Technology" src="ur_robot_driver/doc/resources/fzi-logo_transparenz.png">](https://www.fzi.de).
<!--
ROSIN acknowledgement from the ROSIN press kit
@ https://github.com/rosin-project/press_kit
-->
<a href="http://rosin-project.eu">
<img src="https://raw.githubusercontent.com/rosin-project/press_kit/master/img/rosin_ack_logo_wide.png"
alt="rosin_logo" height="60" >
</a>
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
<img src="https://raw.githubusercontent.com/rosin-project/press_kit/master/img/rosin_eu_flag.jpg"
alt="eu_flag" height="45" align="left" >
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.
## How to report an issue
Before creating an issue, please have a look at the [Troubleshooting section](#Troubleshooting) of this document.
To create an issue on the [Issue Board](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/new) please use the default template.
## How to get help
If you need help using this driver, please see the ROS-category in the [UR+ Developer Forum](https://forum.universal-robots.com/c/ros).
## Features
* Works for all **CB3 (with software version >= 3.14.3) and e-Series (software >= 5.9.4)** robots and uses the RTDE interface for communication, whenever possible.
* **Factory calibration** of the robot inside ROS to reach Cartesian
targets precisely.
* **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the
e-Series. To usExcerpt of 22,076 characters
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Felix Exner (fexner) · Germany
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G.A. vd. Hoorn · @tud-cor @tud-dri @sam-xl
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Jarek Potiuk · Apache Software Foundation · Poland
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Michael Görner · Constructor University Bremen · Germany
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:814950313c62a5a1, topic:robotics, topic:ros