Python interface for sending and receiving data to/from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot
Project description
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 by 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.
- 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.
- 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
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
If you only want to the use the Python interface, you can install ur_rtde through pip:
pip install --user ur_rtde
Notice! Make sure your pip version >=19.3, otherwise the install might fail.
If you are on Windows you can install ur_rtde from the installer found here:
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)
- 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.
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