ROS2 for UR

[yoann-fleytoux]

Hi all, thanks for your great work. I m building a gello for my UR10e, I saw the fr3 ros2 package, I was wondering if there were any plans to provide similar things for the UR ?

[JemuelStanley47]

🙋‍♂️ Not one of the authors, but I’ve been actively using GELLO with my UR5e and UR10e via ur_rtde. While it would be great if the maintainers bring in official support for Universal Robots (like what's available for Franka), I’m currently working on integrating GELLO with the ROS 2 UR driver for my own use.

[JemuelStanley47]

Hi @yoann-fleytoux, quick update. I got a minimalistic implementation working 🎉

🔗 Repo: jemuelstanley47/gello_software_UR (branch: jemprem/ur)
📄 CHANGELOG.md has details on the key changes

Highlights:

• ✅ Separate ROS 2 (humble) package: ur_gello_state_publisher
• 🔁 Uses scaled_joint_trajectory_controller from UR driver
• 🔄 Switched to Gello Agent interface (vs Dynamixel in Franka support)
• 🎯 Verified with URSim and IsaacSim

🎥 URSim Demo

gello_ursim.mp4

🎥 IsaacSim Demo

gello_isaacsim.mp4

Note: (IsaacSim video is jerky due to untuned assets)

⚠️ Gripper integration not yet implemented — I plan to follow a structure similar to the author's Franka package. Will update soon.

Appreciate any inputs!

[yoann-fleytoux]

I will try it on my ur10e Wednesday/Thursday :)

[yoann-fleytoux]

Sorry I got overwhelm at work, I will try to give some feedback at some point :/

[foreignlands]

I will try it on my ur10e Wednesday/Thursday :)

@yoann-fleytoux
Hello, have you successfully tried it on your end
I have a topic published in /gello/joint_states, but
The topic of '/joint_trajectory_controller/joint_trajectory' remains empty
The activation trajectory controller has also been activated

[foreignlands]

你好@yoann-fleytoux，快速更新。我得到了一个极简的实现🎉

🔗 Repo : jemuelstanley47/gello_software_UR (分支: jemprem/ur) 📄 CHANGELOG.md包含主要变更的详细信息

亮点：

• ✅ 单独的 ROS 2（humble）软件包：ur_gello_state_publisher
• 🔁scaled_joint_trajectory_controller来自 UR 驱动程序的用途
• 🔄 切换到Gello Agent界面（与 Franka 支持中的 Dynamixel 相比）
• 🎯 已通过URSim和IsaacSim验证

🎥 URSim 演示

gello_ursim.mp4
🎥 IsaacSim 演示

gello_isaacsim.mp4
注意：（ 由于未调整资产，IsaacSim 视频很不流畅）

⚠️夹具集成尚未实现——我计划采用与作者 Franka 软件包类似的结构。很快就会更新。

感谢任何意见！
@JemuelStanley47

Hello, I would like to inquire about some issues,
First, I modified your code to adapt to my port number,
Then I roughly used these commands, but the simulated robotic arm never moved:

docker run --rm -it -p 5900:5900 -p 6080:6080 --name ursim universalrobots/ursim_e-series
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.17.0.2
ros2 control switch_controllers --activate joint_trajectory_controller --deactivate forward_position_controller forward_velocity_controller
sudo chmod 666 /dev/ttyUSB0
export PYTHONPATH=$PYTHONPATH:/home/summer/gello_software_UR/third_party/DynamixelSDK/python/src
ros2 launch ur_gello_state_publisher main.launch.py com_port:=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A50285BI-if00-port0
ros2 launch ur_gello_state_publisher send.trajectory.launch.py

I have a topic published on
/gello/joint_states,
but the topic on
/joint_trajectory_controller/joint_trajectory
remains empty
The activation trajectory controller has also been activated