Universal Robots - UR3: Simulation and Control using ROS2

In this video, we showcase the control and simulation of the Universal Robots UR3 using ROS2 Humble. You'll see how a simple program can be executed in the ROS2 Gazebo simulation environment, as well as the control of a real UR3 Collaborative Robot. The video demonstrates how the real robot replicates exactly the behaviour of the simulated robot.

To access the source code and instructions on how to achieve and execute the control, check out the ros2_SimRealRobotControl repository on GitHub. This repository is a must-have for Robotics Engineers and Researchers who are interested in controlling industrial or collaborative robots using ROS2. It's an advanced version of ros2_RobotSimulation, with added functionality for Real Robot Control.

- References -

IFRA (2022) ROS2 Robot Simulation. URL:

IFRA-Cranfield (2023) ROS2 Sim-to-Real Robot Control. URL:

(c) IFRA Research Group
Centre for Robotics and Assembly
School of Aerospace, Transport and Manufacturing (SATM)
Cranfield University

- Credits -

[daanbanaan]

Great work!
How did you guys communicate to the robot, without using the ur_driver or ur_client_library?
I try to write a simple program for the UR5e which has to send and receive data from the robot (like joint positions etc.) but had some trouble. When see your packages, i don't see an include or whatever, or am I missing something?

[lijack-zr]

Amazing，I want to achieve the effect in the video, but I can't start, how can I start this ur3 robot arm and make it appear in gazebo，what is the command

[hamzazafar]

Hi, Its an amazing work. I have one question, by following your GitHub repository can we control the UR robot in ROS2 Humble Gazebo?. I just want to simulate the UR in Gazebo. Thanks