This repo is meant to be an easy way to install the UR ROS2 driver and all of its dependencies, without conflicting with anything on your personal computers. A simple script which executes a motion on a robot, while it is logging data from various topics is also available, but is only meant as a starting point or inspiration.

The official documentation for the UR ROS2 driver can be found here: Official docs

How to setup the robot: Setting up the robot

How to start the driver: Starting the driver

Read about the motion controllers used with the driver: Controllers

Once the driver is started, you can run your own scripts in a different terminal.

ROS2 will be sourced every time a new terminal is opened. If this creates issues, the line

source /opt/ros/jazzy/setup.bash

can be removed from the /home/robot/.bashrc file.

The devcontainer can be started in two ways:

If using VS Code as your IDE, this devcontainer can be started by opening the folder containing this README file in VS Code, pressing F1, and pressing the option Dev Containers: Reopen in Container. The container should open, and you should be good to go.

Documentation for CLI tool here.

If you are using neither, I would recommend using VS Code.