https://github.com/universalrobots/universal_robots_ros2_description

ROS2 URDF description for Universal Robots
https://github.com/universalrobots/universal_robots_ros2_description

robotics ros2 universal-robots ur10 ur10e ur16e ur20 ur3 ur3e ur5 ur5e

Last synced: 6 months ago
JSON representation

ROS2 URDF description for Universal Robots

• Host: GitHub
• URL: https://github.com/universalrobots/universal_robots_ros2_description
• Owner: UniversalRobots
• License: bsd-3-clause
• Created: 2021-12-15T12:19:48.000Z (almost 4 years ago)
• Default Branch: rolling
• Last Pushed: 2025-05-20T08:59:43.000Z (7 months ago)
• Last Synced: 2025-05-20T09:52:18.711Z (7 months ago)
• Topics: robotics, ros2, universal-robots, ur10, ur10e, ur16e, ur20, ur3, ur3e, ur5, ur5e
• Language: Python
• Homepage:
• Size: 31 MB
• Stars: 180
• Watchers: 14
• Forks: 154
• Open Issues: 14
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

Awesome Lists containing this project

README

          
# 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`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/humble) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__ur_description__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__ur_description__ubuntu_jammy_amd64__binary/) | [ur_description](https://index.ros.org/p/ur_description/#humble)

**Jazzy** | [`jazzy`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/jazzy) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__ur_description__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__ur_description__ubuntu_noble_amd64__binary/) | [ur_description](https://index.ros.org/p/ur_description/#jazzy)

**Kilted** | [`rolling`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/rolling) | [![Build Status](https://build.ros2.org/job/Kbin_uN64__ur_description__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Kbin_uN64__ur_description__ubuntu_noble_amd64__binary/) | [ur_description](https://index.ros.org/p/ur_description/#kilted)

**Rolling** | [`rolling`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/rolling) | [![Build Status](https://build.ros2.org/job/Rbin_uN64__ur_description__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__ur_description__ubuntu_noble_amd64__binary/)| [ur_description](https://index.ros.org/p/ur_description/#rolling)

A more [detailed build status](ci_status.md) 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 [UR15 meshes](meshes/ur15), [UR20 meshes](meshes/ur20) and [UR30 meshes](meshes/ur30) constitutes “Graphical Documentation” the use of which is subject to and governed by our “[Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt)”.

Universal Robots' [Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt) do not fully comply with [OSI's definition of Open Source](https://opensource.org/osd/), but they do allow you to use, modify and share “Graphical Documentation”, including [UR15 meshes](meshes/ur15), [UR20](meshes/ur20) and [UR30](meshes/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 [legal@universal-robots.com](mailto:legal@universal-robots.com).

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:

``` bash

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](doc/index.rst).