In this paper a novel ROS2 driver for UR robot manipulators is presented, based on the ur_rtde C++ library. The proposed driver aims to be a flexible solution, adaptable to a wide range of applications. The driver exposes the high-level commands of Universal Robots URScripts, and custom commands can be added using a plugin system. Several commands have been implemented, including motion execution along a waypoint-based path. The driver is published as open source.

翻译：本文提出了一种基于ur_rtde C++库的新型UR机器人机械臂ROS2驱动程序。该驱动程序旨在成为一种灵活的解决方案，可适应广泛的应用场景。该驱动程序公开了Universal Robots URScripts的高级命令，并可通过插件系统添加自定义命令。已实现多种命令，包括基于路径点的运动执行。该驱动程序已作为开源软件发布。