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.
- 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
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.
Project details
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distributions
Hashes for ur_rtde-1.4.2-cp39-cp39-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 3d47b9b50f981679dd357f25c34247dec051b9a150902c2bb363b759a7cc469d |
|
MD5 | e2c40a9341a49c6222a5ce9a4a0da419 |
|
BLAKE2b-256 | bc58650d324aafd4ca3468f8273a14e5a15aec4d308780f371e2aaa13978e200 |
Hashes for ur_rtde-1.4.2-cp38-cp38-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 93d9e4d35f96668c070f7891395cc3e1f52b706eb2a9c74a5b86a05df845934d |
|
MD5 | 54056ffa3f42b4a99e15ea7f8bf89462 |
|
BLAKE2b-256 | bb95179ebdf9b9b88cfcc491d41a38eacacce7950bbbd22a120ed9fd595924ec |
Hashes for ur_rtde-1.4.2-cp37-cp37m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 57b8a3d3674ab5a38b01b728c62c68e78596ce6822d841b56a97b825c155e291 |
|
MD5 | 45105cc9bce5417830403ebc72648ece |
|
BLAKE2b-256 | 0c3dbe064cc0b9003fd932c98e4d1ebb9bd82121ebe2095efad65ab5aa3871cd |
Hashes for ur_rtde-1.4.2-cp36-cp36m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 3f820371c7eed00124c561c5fada3c442470b90f17fe20b4ffe6fe6639792cc1 |
|
MD5 | 62f589d0f0ff987aff02341a5d8c39dc |
|
BLAKE2b-256 | bfcf4375e4996237e28bf757b0cb469a70acdf1f3769f3efc0b32d68ef185620 |
Hashes for ur_rtde-1.4.2-cp35-cp35m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | bf4d7e58c7e77fc54dc3657d7c8bffdb16211f92d3702ee51ae4eb7a634a9410 |
|
MD5 | 1ba0cec32d94c5c405d76bcdf9c6bb4d |
|
BLAKE2b-256 | 7c1b2b21930b18bbe111a5fcd5cb3cb506ccfa51e4d0fb45d79c06aeeae13970 |