Resources

• URX Python Package

• Universal Robots ROS Driver/Library

• UR Toolbox

• ROS Industrial

• Getting started with ROS Industrial

• Older ROS Universal Robots Package

URX vs UR5?

• URX Library vs Ros Driver
• ROS Driver vs Python Library

URX Package

pip3 install urx

Combining a Publisher and Subscriber

• https://answers.ros.org/question/107326/publishersubscriber-in-one-python-script/
• https://answers.ros.org/question/62327/how-to-create-a-combining-subscriber-and-publisher-node-in-python/

Start Node

rosrun universal_robots talker_ur5e.py 

Publishing a position command

rostopic pub -1 /ur5e_control universal_robots/position_command -- "p:
- 0.0
- 0.0
- 0.005"