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

[!tip] Announcements

• PolyScopeX is now supported, when using the External Control UR Cap for PolyScopeX 🚀
• Control the robot joint torques directly using directTorque() and get the robot Mass matrix, Jacobian, Coriolis and centrifugal forces. (From PolyScope 5.23)

Key Features

• Fast and lightweight interface for programming UR robots.
• Uses the Real-Time Data Exchange (RTDE) of the robot.
• Execute with real-time priority on operating systems with a real-time kernel, see the Real-time Setup Guide
• Available on multiple platforms (Linux, Windows, macOS)
• Can be used from C++ and Python.
• Relies only on STL datatypes and can be used with various robot frameworks.
• Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47])
• Use it with the UR's ExternalControl UR Cap, download it here see how to install it on the robot here. In order to setup ur_rtde for using it see here.
• Easy to install and setup.

Documentation

Documentation with installation and build instructions, examples and API resides at https://sdurobotics.gitlab.io/ur_rtde/

How to Cite

If you use ur_rtde in your research, please cite this paper:

@inproceedings{10871000,
  author={Lindvig, Anders Prier and Iturrate, Iñigo and Kindler, Uwe and Sloth, Christoffer},
  booktitle={2025 IEEE/SICE International Symposium on System Integration (SII)},
  title={ur_rtde: An Interface for Controlling Universal Robots (UR) using the Real-Time Data Exchange(RTDE)}, year={2025}, pages={1118-1123}, keywords={Protocols;Linux;C++ languages;System integration;Writing;Manipulators;Real-time systems;Libraries;Timing;MATLAB},
  doi={10.1109/SII59315.2025.10871000}}

Quick Install

From PPA:

If you are on Ubuntu, you can install ur_rtde with:

sudo add-apt-repository ppa:sdurobotics/ur-rtde
sudo apt-get update
sudo apt install librtde librtde-dev

From PyPi:

If you only want to the use the Python interface, you can install ur_rtde through pip:

pip3 install ur_rtde

⚠️ Notice! Make sure your pip version >=19.3, otherwise the install might fail.

Prebuilt python wheels support matrix:

	macOS Intel	macOS Apple Silicon	Windows 64bit	Windows 32bit	Windows Arm64	manylinux x86_64	manylinux i686	manylinux aarch64	manylinux ppc64le	manylinux s390x
CPython 3.6	✅	❌	❌	❌	❌	✅	✅	✅	✅	✅
CPython 3.7	✅	❌	✅	❌	❌	✅	✅	✅	✅	✅
CPython 3.8	✅	❌	✅	❌	❌	✅	✅	✅	✅	✅
CPython 3.9	✅	❌	✅	❌	✅¹	✅	✅	✅	✅	✅
CPython 3.10	✅	❌	✅	❌	✅¹	✅	✅	✅	✅	✅
CPython 3.11	✅	❌	✅	❌	✅¹	✅	✅	✅	✅	✅
CPython 3.12	✅	❌	✅	❌	✅¹	✅	✅	✅	✅	✅
PyPy 3.7 v7.3	✅	❌	✅	❌	❌	✅	✅	✅	❌	❌
PyPy 3.8 v7.3	✅	❌	✅	❌	❌	✅	✅	✅	❌	❌
PyPy 3.9 v7.3	✅	❌	✅	❌	❌	✅	✅	✅	❌	❌

^{¹ Windows arm64 support is experimental.}

Dependencies

• Boost
• pybind11 (Optional)

Compatible Robots

• All CB-Series from CB3/CB3.1 software 3.3
• All e-Series

Compatible Operating Systems

Currently tested on:

• Ubuntu 20.04 (Focal Fossa)
• Ubuntu 22.04 (Jammy Jellyfish)
• Ubuntu 24.04 (Noble Numbat)
• macOS 15 (Sequoia)
• Windows 10 Pro x64

Contact

If you have any questions or suggestions to the interface, feel free to contact Anders Prier Lindvig anpl@mmmi.sdu.dk or create an issue here.