Using the Robotics System Toolbox™ Support Package for Universal Robots UR Series Manipulators, you can establish ROS communication with Universal Robots manipulators. The matlab_externalcontrol-1.0.0.urcap allows you to create external control of the manipulator over ROS.
MathWorks Products (https://www.mathworks.com)
Requires MATLAB® release R2022b or newer
- MATLAB®
- Robotics System Toolbox™
- ROS Toolbox
- Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators
Installation instructions
- MATLAB installation: Visit installation instructions webpage to get started with the MATLAB installation process.
- Support package installation: Before proceeding, ensure that the products mentioned under MathWorks Products above are installed. To install the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, follow the steps mentioned here.
Set up and configure the connection to cobots from Universal Robots.
- Install ROS Packages and Dependencies for ROS
- Set Up URSim Offline Simulator
- Add Custom ROS Message Definitions to MATLAB
- Hardware Setup for UR Series Cobots
- To configure the UR series cobots for external control over ROS, the URCap needs to be installed on the Teach pendant of the cobot. Follow the instructions in this documentation to do the same.
- To configure URSim for external control, follow the instructions here
To learn how to communicate with UR Series cobots over ROS, see Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots.
The license is available in the License file within this repository.
You can post your queries on the MATLAB Central page for the support package. You can also add your questions at MATLAB Answers.
To report any issue, contact - MathWorks Technical Support.
Copyright 2022 The MathWorks, Inc.