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-1.4.0-cp39-cp39-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 15c2d6d4988edbbfb96233761023b4a9b8e3f31125779e02ed3be14c2fd32243 |
|
MD5 | 8ff27462f53cc5cab7831871cb9f38c2 |
|
BLAKE2b-256 | 079d00466d75ffe176650e09261f5de35048b80673c169e9d90102aa865e6665 |
Hashes for ur_rtde-1.4.0-cp38-cp38-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e42ed7b7e8d8a52faeaf0cc0e379eb6235545bb6719f9e012439aca87d3d1167 |
|
MD5 | e5926a848991e3fe2082f9d7f8f5baeb |
|
BLAKE2b-256 | 24779c92828f3f200f56fac5bfd9ad1555a8f30ae377116b6ec900c26720c0ef |
Hashes for ur_rtde-1.4.0-cp37-cp37m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 2933fb689f73694c7383c3db4410f32d22c2ff9f8f260e26a0b62b39a7599c32 |
|
MD5 | d9fe1c4ff4f8361d07066ed884bc6210 |
|
BLAKE2b-256 | 43fd7c57736f8cf258f92394305b513ba448fe8073102f98b93364e0f731cf75 |
Hashes for ur_rtde-1.4.0-cp36-cp36m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e9939564b578b82e1021aa178f04f520ee3dc63824ef06676f4079ec111bcf3b |
|
MD5 | 486ac39f9ea318e341a1f3f2da4eb49b |
|
BLAKE2b-256 | 8e1e7e63322ef68538774e2c9b157189d4bc86b352efbe0bf9fd8fdb632db8df |
Hashes for ur_rtde-1.4.0-cp35-cp35m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 9b9c662622dbb89c10fa79bd3ef560aa139bc8c9c01f25acd59ab03a5cb61d4b |
|
MD5 | 1107bdef2f0b3f8a3da07b39318d1235 |
|
BLAKE2b-256 | 87e647ca97cae094234a40075a5c697c8d271961a38b36612329fe03312dca4a |