Mastering ROS for Robotics Programming - Second Edition

Installing the ROS interface of Universal Robots

We can install the Universal Robots packages by using the Ubuntu/Debian package manager:

$ sudo apt-get install ros-kinetic-universal-robot

Or, we can directly download these packages from the following repository:

$ git clone https://github.com/ros-industrial/universal_robot.git  

The Universal Robot packages are:

• ur_description: This package consists of the robot description and Gazebo description of UR-3, UR-5, and UR-1.
• ur_driver: This package contains client nodes, which can communicate with the UR-3, UR-5, and UR-10 robot hardware controllers.
• ur_bringup: This package consists of launch files to start communication with the robot hardware controllers to start working with the real robot. ...