ur-rtde

A C++ interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot. The interface can also be used with python, through the provided python bindings.

[!tip] Announcements

PolyScopeX is now supported, when using the External Control UR Cap for PolyScopeX :rocket:
Control the robot joint torques directly using directTorque() and get the robot Mass matrix, Jacobian, Coriolis and centrifugal forces. (From PolyScope 5.26)

Key Features

Fast and lightweight interface for programming UR robots.
Uses the Real-Time Data Exchange (RTDE) of the robot.
Execute with real-time priority on operating systems with a real-time kernel, see the Real-time Setup Guide
Available on multiple platforms (Linux, Windows, macOS)
Can be used from C++ and Python.
Relies only on STL datatypes and can be used with various robot frameworks.
Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47])
Use it with the UR's ExternalControl UR Cap, download it here see how to install it on the robot here. In order to setup ur_rtde for using it see here.
Easy to install and setup.

Documentation

Documentation with installation and build instructions, examples and API resides at https://sdurobotics.gitlab.io/ur_rtde/

How to Cite

If you use ur_rtde in your research, please cite this paper:

@inproceedings{10871000,
  author={Lindvig, Anders Prier and Iturrate, Iñigo and Kindler, Uwe and Sloth, Christoffer},
  booktitle={2025 IEEE/SICE International Symposium on System Integration (SII)},
  title={ur_rtde: An Interface for Controlling Universal Robots (UR) using the Real-Time Data Exchange(RTDE)}, year={2025}, pages={1118-1123}, keywords={Protocols;Linux;C++ languages;System integration;Writing;Manipulators;Real-time systems;Libraries;Timing;MATLAB},
  doi={10.1109/SII59315.2025.10871000}}

Quick Install

From PPA:

If you are on Ubuntu, you can install ur_rtde with:

sudo add-apt-repository ppa:sdurobotics/ur-rtde
sudo apt-get update
sudo apt install librtde librtde-dev

From PyPi:

If you only want to the use the Python interface, you can install ur_rtde through pip:

pip3 install ur_rtde

:warning: Notice! Make sure your pip version >=19.3, otherwise the install might fail.

Prebuilt python wheels support matrix:

	macOS Intel	macOS Apple Silicon	Windows 64bit	Windows 32bit	Windows Arm64	manylinux x86_64	manylinux i686	manylinux aarch64	manylinux ppc64le	manylinux s390x
CPython 3.6	✅	:x:	:x:	:x:	:x:	✅	✅	✅	✅	✅
CPython 3.7	✅	:x:	✅	:x:	:x:	✅	✅	✅	✅	✅
CPython 3.8	✅	:x:	✅	:x:	:x:	✅	✅	✅	✅	✅
CPython 3.9	✅	:x:	✅	:x:	✅¹	✅	✅	✅	✅	✅
CPython 3.10	✅	:x:	✅	:x:	✅¹	✅	✅	✅	✅	✅
CPython 3.11	✅	:x:	✅	:x:	✅¹	✅	✅	✅	✅	✅
CPython 3.12	✅	:x:	✅	:x:	✅¹	✅	✅	✅	✅	✅
PyPy 3.7 v7.3	✅	:x:	✅	:x:	:x:	✅	✅	✅	:x:	:x:
PyPy 3.8 v7.3	✅	:x:	✅	:x:	:x:	✅	✅	✅	:x:	:x:
PyPy 3.9 v7.3	✅	:x:	✅	:x:	:x:	✅	✅	✅	:x:	:x:

^{¹ Windows arm64 support is experimental.}

Dependencies

Boost
pybind11 (Optional)

Compatible Robots

All CB-Series from CB3/CB3.1 software 3.3
All e-Series

Compatible Operating Systems

Currently tested on:

Ubuntu 20.04 (Focal Fossa)
Ubuntu 22.04 (Jammy Jellyfish)
Ubuntu 24.04 (Noble Numbat)
macOS 15 (Sequoia)
Windows 10 Pro x64

Contact

If you have any questions or suggestions to the interface, feel free to contact Anders Prier Lindvig anpl@mmmi.sdu.dk or create an issue here.

License
- OSI Approved :: MIT License
Operating System
- OS Independent
Programming Language
- Python :: 3

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Source Distribution

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