Universal_Robots_ROS2_Description

This repository contains description files and meshes for Universal Robots manipulators.

Build status

ROS2 Distro	Branch	Build status	Released packages
Humble	humble		ur_description
Jazzy	rolling		ur_description
Rolling	rolling		ur_description

A more detailed build status shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state.

License

The UR20 meshes and UR30 meshes constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”.

Universal Robots' Terms and Conditions for use of Graphical Documentation do not fully comply with OSI's definition of Open Source, but they do allow you to use, modify and share “Graphical Documentation”, including UR20 and UR30 meshes, subject to certain restrictions.
If you have any questions regarding this license or if this license doesn't fit your use-case, please contact [email protected].

All other content is licensed under the BSD-3-Clause license

Testing description of a manipulator

To visualize the robot install this repository to you workspace and execute the following:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

To test other descriptions change the ur_type argument.

Further documentation

For further documentation about this description, please see doc/index.rst.