ur_rtde#
A cross-platform C++ interface for controlling Universal Robot (UR) manipulators. This interface is capable of controlling all UR robots that facilitates a Real-Time Data Exchange (RTDE). ur_rtde can be used both from C++ and Python with bindings.
In this documentation#
Getting Started
Start here: A hands-on introduction to ur_rtde for new users.
Code Examples
Ready-to-run C++ and Python scripts for common robot control tasks.
Core Concepts
Foundational knowledge on RTDE timing, interface design, and OS configuration.
Reference
Technical information - specifications, C++ & Python APIs.
How to Cite#
If you use ur_rtde in your research, please cite this paper:
@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}}