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Universal Robots RTDE C++ Interface

A C++ interface for controlling and receiving data from an UR robot using the Real-Time Data Exchange (RTDE). The interface can also by used with python, through the provided python bindings.

Table of Contents

• Introduction
• FAQ
• Guides
  • Real-time Setup Guide
    • Linux
    • Windows
    • Setting a real-time priority
  • Use with Dockerized UR Simulator
    • Install docker
    • Build docker image
    • Run docker image
  • Use with MATLAB
  • Use with Robotiq Gripper
• Installation
  • Quick Install
  • Compatible Robots
  • Compatible Operating Systems
  • Build Instructions
    • Linux (Ubuntu) and macOS
    • Windows
• Examples
  • CMake Example
  • Basic use
  • Use with ExternalControl UR Cap
  • Use with custom script
  • Record Data Example
  • Move Asynchronous Example
  • Move Until Contact
  • Forcemode Example
  • ServoJ Example
  • SpeedJ Example
  • MoveL Path With Blending Example
  • IO Example
  • Robotiq Gripper Example
  • Jog Example
• API Reference
  • RTDE Control Interface API
  • RTDE Receive Interface API
  • RTDE IO Interface API
  • RTDE Class API
  • Script Client API
  • Dashboard Client API
  • Robotiq Gripper API