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   <li>Support level: <a href="http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform">community</a></li>
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<<Include(Industrial/Software_Status/Experimental)>>
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== Overview ==

This stack is part of the [[Industrial|ROS-Industrial]] program. It currently contains packages that provide nodes for communication with Universal's industrial robot controllers, URDF models for various robot arms and the associated [[moveit|MoveIt]] packages.

== Compatibility ==
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The `ur_driver` package should be compatible with most system versions, although has only been tested successfully with `v1.8.16941` and older.
}}}

{{{{#!wiki version hydro_and_newer

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

[[ur_modern_driver]] has been deprecated and will see no further development. For Polyscope versions up to and including `v1.8.x`, it may still be used.

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

Users with CB3 or e-Series controllers must use [[ur_robot_driver]] instead.

For more information, refer to [[https://discourse.ros.org/t/deprecation-of-ur-modern-driver/11629|Deprecation of ur_modern_driver]] on ROS Discourse.

=== Robot descriptions and MoveIt packages ===

Robot description and MoveIt configurations from the `universal_robot` stack can still be used, and will see updates in the near future to work with [[ur_robot_driver]].

}}}}


== Installation ==

On supported Linux distributions (Ubuntu, up to 16.04 (Xenial), `i386` and `amd64`):
{{{
sudo apt-get install ros-$ROS_DISTRO-universal-robots
}}}

The following instructions assume that a [[http://wiki.ros.org/catkin/Tutorials/create_a_workspace|Catkin workspace]] has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.

In all other cases the packages will have to be build from sources in a Catkin workspace:

{{{#!shell
cd /path/to/catkin_ws/src

# retrieve the sources (replace '$DISTRO' with the ROS version you are using)
git clone -b $DISTRO-devel https://github.com/ros-industrial/universal_robot.git

cd /path/to/catkin_ws

# checking dependencies (replace '$DISTRO' with the ROS version you are using)
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $DISTRO

# building
catkin_make

# source this workspace (careful when also sourcing others)
source /path/to/catkin_ws/devel/setup.bash
}}}

The packages can now be used as regular ROS packages.

Refer to the [[catkin/Tutorials|catkin tutorials]] for more information on building catkin workspaces.


== Tutorials ==

See the [[universal_robot/Tutorials|Tutorials]] page for an overview of the available tutorials.



<<Include(industrial/contact_us_tech_support)>>



== Report a Bug ==

<<GitHubIssues(ros-industrial/universal_robot)>>


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