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A Python interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot.

Project description

 

build status pypi pypi Gitter

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.

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/

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:

Python 3.6 Python 3.7 Python 3.8 Python 3.9
Linux x86_64
macOS Intel
macOS Apple Silicon
Windows 64bit
Windows 32bit :x: :x: :x: :x:

Dependencies

Compatible Robots

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

Compatible Operating Systems

Currently tested on:

  • Ubuntu 16.04 (Xenial Xerus)
  • Ubuntu 18.04 (Bionic Beaver)
  • Ubuntu 20.04 (Focal Fossa)
  • Ubuntu 22.04 (Jammy Jellyfish)
  • macOS 10.14 (Mojave)
  • 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.

Project details


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Source Distribution

ur_rtde-1.5.5.tar.gz (2.8 MB view hashes)

Uploaded source

Built Distributions

ur_rtde-1.5.5-cp310-cp310-win_amd64.whl (2.4 MB view hashes)

Uploaded cp310

ur_rtde-1.5.5-cp39-cp39-win_amd64.whl (2.3 MB view hashes)

Uploaded cp39

ur_rtde-1.5.5-cp38-cp38-win_amd64.whl (2.3 MB view hashes)

Uploaded cp38

ur_rtde-1.5.5-cp37-cp37m-win_amd64.whl (2.3 MB view hashes)

Uploaded cp37

ur_rtde-1.5.5-cp36-cp36m-win_amd64.whl (2.3 MB view hashes)

Uploaded cp36

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