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EOL distros:

See ur_description on index.ros.org for more info including anything ROS 2 related.

groovy: Documentation generated on October 06, 2014 at 08:25 AM

hydro: Documentation generated on August 28, 2015 at 01:31 PM (doc job).

indigo: Documentation generated on June 07, 2019 at 02:16 AM (doc job).

kinetic: Documentation generated on November 24, 2019 at 03:28 AM (doc job).

melodic: Documentation generated on November 15, 2022 at 11:59 AM (doc job).

noetic: Documentation generated on April 04, 2025 at 10:20 AM (doc job).

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Dependencies (2)

catkin
urdf

Used by (4)

cob_hardware_config
universal_robot
ur_bringup
ur_gazebo

Package Summary

Documented

URDF description for Universal UR5/10 robot arms

Maintainer: Kelsey Hawkins <kphawkins AT gatech DOT edu>
Author: Wim Meeussen, Kelsey Hawkins <kphawkins AT gatech DOT edu>, Mathias Ludtke
License: BSD
Source: git https://github.com/ros-industrial/universal_robot.git (branch: groovy-devel)

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Dependencies (2)

catkin
urdf

Used by (6)

cob_hardware_config
universal_robot
ur10_moveit_config
ur5_moveit_config
ur_bringup
ur_gazebo

Package Summary

Released

Documented

URDF description for Universal UR5/10 robot arms

Maintainer status: developed
Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
Author: Wim Meeussen, Kelsey Hawkins <kphawkins AT gatech DOT edu>, Mathias Ludtke, Felix Messmer <fxm AT ipa.fhg DOT de>
License: BSD
Source: git https://github.com/ros-industrial/universal_robot.git (branch: hydro)

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Dependencies (2)

catkin
urdf

Used by (9)

cob_hardware_config
husky_description
universal_robot
ur10_moveit_config
ur3_moveit_config
ur5_moveit_config
ur_bringup
ur_gazebo
ur_modern_driver

Package Summary

Released

Documented

URDF description for Universal UR5/10 robot arms

Maintainer status: developed
Maintainer: Felix Messmer <fxm AT ipa.fhg DOT de>, G.A. vd. Hoorn <g.a.vanderhoorn AT tudelft DOT nl>
Author: Wim Meeussen, Kelsey Hawkins <kphawkins AT gatech DOT edu>, Mathias Ludtke, Felix Messmer <fxm AT ipa.fhg DOT de>
License: BSD
Source: git https://github.com/ros-industrial/universal_robot.git (branch: indigo)

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Dependencies (6)

catkin
joint_state_publishe...
robot_state_publishe...
rviz
urdf
xacro

Used by (8)

fake_joint_launch
universal_robots
ur10_moveit_config
ur3_moveit_config
ur5_moveit_config
ur_bringup
ur_gazebo
ur_modern_driver

Package Summary

Released

Documented

URDF description for Universal UR5/10 robot arms

Maintainer status: developed
Maintainer: G.A. vd. Hoorn <g.a.vanderhoorn AT tudelft DOT nl>, Miguel Prada Sarasola <miguel.prada AT tecnalia DOT com>, Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>
Author: Wim Meeussen, Kelsey Hawkins, Mathias Ludtke, Felix Messmer
License: BSD
Source: git https://github.com/ros-industrial/universal_robot.git (branch: kinetic)

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Dependencies (6)

catkin
joint_state_publishe...
robot_state_publishe...
rviz
urdf
xacro

Used by (9)

universal_robots
ur10_moveit_config
ur10e_moveit_config
ur16e_moveit_config
ur3_moveit_config
ur3e_moveit_config
ur5_moveit_config
ur5e_moveit_config
ur_gazebo

Jenkins jobs (6)

source ubuntu bionic
binary ubuntu bionic amd64
binary ubuntu bionic armhf
binary ubuntu bionic arm64
devel ubuntu bionic amd64
doc

Package Summary

Released

Documented

URDF description for Universal UR3(e), UR5(e), UR10(e) and UR16e robots

Maintainer status: developed
Maintainer: G.A. vd. Hoorn <g.a.vanderhoorn AT tudelft DOT nl>, Miguel Prada Sarasola <miguel.prada AT tecnalia DOT com>, Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>
Author: Wim Meeussen, Kelsey Hawkins, Mathias Ludtke, Felix Messmer
License: BSD
Source: git https://github.com/ros-industrial/universal_robot.git (branch: melodic)

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Dependencies (6)

catkin
joint_state_publishe...
robot_state_publishe...
rviz
urdf
xacro

Used by (13)

universal_robots
ur10_moveit_config
ur10e_moveit_config
ur12e_moveit_config
ur16e_moveit_config
ur20_moveit_config
ur30_moveit_config
ur3_moveit_config
ur3e_moveit_config
ur5_moveit_config
ur5e_moveit_config
ur7e_moveit_config
ur_gazebo

Jenkins jobs (6)

source ubuntu focal
binary ubuntu focal amd64
binary ubuntu focal armhf
binary ubuntu focal arm64
devel ubuntu focal amd64
doc

Package Summary

Released

Documented

URDF description for Universal UR3(e), UR5(e), UR10(e), UR16e, UR20 and UR30 robots

Maintainer status: developed
Maintainer: G.A. vd. Hoorn <g.a.vanderhoorn AT tudelft DOT nl>, Miguel Prada Sarasola <miguel.prada AT tecnalia DOT com>, Nadia Hammoudeh Garcia <nhg AT ipa.fhg DOT de>
Author: Wim Meeussen, Kelsey Hawkins, Mathias Ludtke, Felix Messmer
License: BSD, Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation, Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation
Source: git https://github.com/ros-industrial/universal_robot.git (branch: noetic)

Contents

Overview
Usage

Overview

This package is part of the ROS-Industrial program.

Usage

To view and manipulate the arm models in rviz, install the package from package management and launch the following:

roslaunch ur_description ur5_upload.launch
roslaunch ur_description test.launch

You should see an rviz window showing the UR5 in a lying-down position, and a separate window where the joint values may be manually specified. Note that this is not a simulation, just a visualization of the arm model. To simulate UR5 or UR10, see ur_gazebo.