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== Overview ==
This package contains the C++ library for accessing Universal Robots robotic arms from the CB3- or e-Series. It is the base of the [[http://wiki.ros.org/ur_robot_driver|ur_robot_driver]].

== Compatibility ==

=== Polyscope up to v1.8.x ===

This package does not support CB2 controllers.

For robots with Polyscope `v1.8.x` or older, please see whether [[ur_modern_driver]] is sufficient.

=== Polyscope v3.x and v5.x ===

Make sure the controller runs `v3.7` or newer for CB3, or `v5.1` or newer for e-Series controllers.

== Library Contents ==
Currently, this library contains the following components:

 * '''Basic primary interface''': The primary interface isn't fully implemented at the current state and provides only basic functionality. See A word on the primary / secondary interface for further information about the primary interface.
 * '''RTDE interface''': The RTDE interface is fully supported by this library. See RTDEClient for further information on how to use this library as an RTDE client.
 * '''Dashboard interface''': The Dashboard server can be accessed directly from C++ through helper functions using this library.
 * '''Custom motion streaming''': This library was initially developed as part of the Universal Robots ROS driver. Therefore, it also contains a mechanism to do data streaming through a custom socket, e.g. to perform motion command streaming.

== Additional information ==

Most documentation is handled inside the Githhub [[https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/README.md|README]] files.

== Contributing ==
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