# ur_rtde

**Repository Path**: douzhao1982/ur_rtde

## Basic Information

- **Project Name**: ur_rtde
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-31
- **Last Updated**: 2025-07-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<div align="center">

<img width=20% src="https://gitlab.com/sdurobotics/ur_rtde/-/raw/master/doc/_static/ur_rtde_logo.png">
</div>
&nbsp;
<div align="center">

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[![DOI:10.1109/SII59315.2025.10871000](http://img.shields.io/badge/DOI-10.1109/SII59315.2025.10871000-00629B.svg)](https://doi.org/10.1109/SII59315.2025.10871000)
<br>
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</div>

A C++ interface for controlling and receiving data from a UR robot using the 
[Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/)
 interface of the robot. The interface can also be used with python, through the provided python bindings.

>>> [!tip] Announcements
* [PolyScopeX](https://www.universal-robots.com/products/polyscope-x/) is now supported, when using the [External Control UR Cap](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCapX) for PolyScopeX :rocket:
* Control the robot joint torques directly and get the robot Mass matrix, Jacobian, Coriolis and centrifugal forces. (From PolyScope 5.22)
>>>

### Key Features ###
 * Fast and lightweight interface for programming UR robots.
 * Uses the [Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/) of the robot.
 * Execute with real-time priority on operating systems with a real-time kernel, see the [Real-time Setup Guide](https://sdurobotics.gitlab.io/ur_rtde/guides/guides.html#realtime-setup-guide)
 * 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](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap),
    download it [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/resources/externalcontrol-1.0.5.urcap) see
    how to install it on the robot [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md). 
    In order to setup ur_rtde for using it see [here](https://sdurobotics.gitlab.io/ur_rtde/examples/examples.html#use-with-externalcontrol-ur-cap).
 * Easy to install and setup.
 
### Documentation ###
Documentation with installation and build instructions, examples and API resides at <https://sdurobotics.gitlab.io/ur_rtde/>

### How to Cite ###
If you use ur_rtde in your research, please cite the [paper](https://doi.org/10.1109/SII59315.2025.10871000):

```
@inproceedings{10871000,
  author={Lindvig, Anders Prier and Iturrate, Iñigo and Kindler, Uwe and Sloth, Christoffer},
  booktitle={2025 IEEE/SICE International Symposium on System Integration (SII)}, 
  title={ur_rtde: An Interface for Controlling Universal Robots (UR) using the Real-Time Data Exchange(RTDE)}, year={2025}, pages={1118-1123}, keywords={Protocols;Linux;C++ languages;System integration;Writing;Manipulators;Real-time systems;Libraries;Timing;MATLAB},
  doi={10.1109/SII59315.2025.10871000}}

```

### Quick Install ##

#### From PPA: ####
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

#### From PyPi: ####
If you only want to the use the Python interface, you can install ur_rtde through pip:

    pip3 install ur_rtde

:warning: Notice! Make sure your pip version >=**19.3**, otherwise the install might fail.

#### Prebuilt python wheels support matrix: ####
|   | macOS Intel | macOS Apple Silicon | Windows 64bit | Windows 32bit | Windows Arm64 | manylinux x86_64 | manylinux i686 | manylinux aarch64 | manylinux ppc64le | manylinux s390x |
|---------------|----|-----|-----|---|-----|---|---|---|-----|-----|
| CPython 3.6   | ✅ | :x: | :x: | :x: | :x: | ✅ | ✅ | ✅ | ✅  | ✅  |
| CPython 3.7   | ✅ | :x: | ✅  | :x: | :x: | ✅ | ✅ | ✅ | ✅  | ✅  |
| CPython 3.8   | ✅ | :x: | ✅  | :x: | :x: | ✅ | ✅ | ✅ | ✅  | ✅  |
| CPython 3.9   | ✅ | :x: | ✅  | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅  | ✅  |
| CPython 3.10  | ✅ | :x: | ✅  | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅  | ✅  |
| CPython 3.11  | ✅ | :x: | ✅  | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅  | ✅  |
| CPython 3.12  | ✅ | :x: | ✅  | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅  | ✅  |
| PyPy 3.7 v7.3 | ✅ | :x: | ✅  | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: |
| PyPy 3.8 v7.3 | ✅ | :x: | ✅  | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: |
| PyPy 3.9 v7.3 | ✅ | :x: | ✅  | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: |

<sup>¹ Windows arm64 support is experimental.</sup><br>

### Dependencies ###
*  [Boost](https://www.boost.org/)
*  [pybind11](https://github.com/pybind/pybind11) (Optional)

### Compatible Robots ###

*  All CB-Series from CB3/CB3.1 software 3.3
*  All e-Series

### Compatible Operating Systems ###
Currently tested on:

*  Ubuntu 20.04 (Focal Fossa)
*  Ubuntu 22.04 (Jammy Jellyfish)
*  Ubuntu 24.04 (Noble Numbat)
*  macOS 15 (Sequoia)
*  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](https://gitlab.com/caro-sdu/ur_rtde/issues).