Simple UR Move

This ROS package provides a high-level python wrapper for easier control of Universal Robots using the built-in trajectory controllers in the Universal_Robots_ROS_Driver.

Table of Contents

Documentation

• Home
• Quickstart Guide
• Examples
  • Start the Arm
  • Run Joint Trajectories
  • Run Cartesian Trajectories
• API Reference
  • Joint Trajectory Handler
  • Cartesian Trajectory Handler
  • Twist Handler
  • Controller Handler

Appendix

• Contributing
• Index

Install

Follow instructions in the Quickstart Guide.

Explore the Examples

Check out the Examples, or run any of the launch files in the launch folder.

Links

• Documentation: Read the Docs

• Source code: Github

Contact

If you have questions, or if you’ve done something interesting with this package, get in touch with Clark Teeple, or the Harvard Microrobotics Lab!

If you find a problem or want something added to the library, open an issue on Github.