RTDE Package to create ROS2 topics for the RTDE Field Names selected.

ur_rtde_client/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+project(ur_rtde_client)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(example_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(ur_client_library REQUIRED)
+find_package(yaml-cpp REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(ur_dashboard_msgs REQUIRED)
+
+add_library(${PROJECT_NAME}_lib
+  src/publisher.cpp
+  src/rtde_manager.cpp
+  src/converter.cpp
+)
+target_include_directories(${PROJECT_NAME}_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_link_libraries(${PROJECT_NAME}_lib PUBLIC
+  rclcpp::rclcpp
+  tf2::tf2
+  tf2_ros::tf2_ros
+  tf2_geometry_msgs::tf2_geometry_msgs
+  ${example_interfaces_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
+  ${builtin_interfaces_TARGETS}
+  ${ur_dashboard_msgs_TARGETS}
+  sensor_msgs::sensor_msgs_library
+  ur_client_library::urcl
+  yaml-cpp
+)
+
+add_executable(rtde_client_node
+  src/rtde_client_node.cpp
+)
+target_link_libraries(rtde_client_node PUBLIC
+  ${PROJECT_NAME}_lib
+  ament_index_cpp::ament_index_cpp
+  rclcpp::rclcpp
+)
+
+install(TARGETS ${PROJECT_NAME}_lib rtde_client_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+install(DIRECTORY include/
+  DESTINATION include
+)
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

ur_rtde_client/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2026, Sergi Romero
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

ur_rtde_client/README.md

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+# ur_rtde_client
+
+A ROS 2 package providing a real-time RTDE client for Universal Robots manipulators. It reads robot state fields (e.g. robot mode, safety status, timestamps) via UR’s RTDE protocol and publishes them as ROS 2 topics.

ur_rtde_client/config/rtde_map.yaml

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+rtde_variables:
+  DOUBLE_to_Float64:
+    rtde_type: "DOUBLE"
+    output_type: "example_interfaces/Float64"
+    variables:
+      - "speed_scaling"
+      - "target_speed_fraction"
+      - "actual_momentum"
+      - "actual_main_voltage"
+      - "actual_robot_voltage"
+      - "actual_robot_current"
+      - "standard_analog_input0"
+      - "standard_analog_input1"
+      - "standard_analog_output0"
+      - "standard_analog_output1"
+      - "io_current"
+      - "input_double_register_<0-47>"
+      - "output_double_register_<0-47>"
+      - "actual_robot_energy_consumed"
+      - "actual_robot_braking_energy_dissipated"
+      - "euromap67_24V_voltage"
+      - "euromap67_24V_current"
+      - "tool_analog_input0"
+      - "tool_analog_input1"
+      - "tool_output_current"
+      - "tcp_force_scalar"
+      - "joint_position_deviation_ratio"
+      - "collision_detection_ratio"
+      - "payload"
+
+  INT32_to_INT32:
+    rtde_type: "INT32"
+    output_type: "example_interfaces/Int32"
+    variables:
+      - "input_int_register_<0-47>"
+      - "output_int_register_<0-47>"
+      - "encoder0_raw"
+      - "encoder1_raw"
+      - "tool_output_voltage"
+      - "time_scale_source"
+
+  BOOL_to_BOOL:
+    rtde_type: "BOOL"
+    output_type: "example_interfaces/Bool"
+    variables:
+      - "input_bit_register_<64-127>"
+      - "output_bit_register_<64-127>"
+
+  VECTOR6INT_to_Int32MultiArray:
+    rtde_type: "VECTOR6INT"
+    output_type: "example_interfaces/Int32MultiArray"
+    variables:
+      - "joint_mode"
+
+  VECTOR3D_to_GeometryMsgVector3:
+    rtde_type: "VECTOR3D"
+    output_type: "geometry_msgs/Vector3Stamped"
+    variables:
+      - "target_gravity"
+
+  VECTOR6D_to_GeometryMsgTwist:
+    rtde_type: "VECTOR6D"
+    output_type: "geometry_msgs/TwistStamped"
+    variables:
+      - "actual_TCP_speed"
+      - "target_TCP_speed"
+
+  VECTOR6D_to_GeometryMsgWrench:
+    rtde_type: "VECTOR6D"
+    output_type: "geometry_msgs/WrenchStamped"
+    variables:
+      - "actual_TCP_force"
+      - "ft_raw_wrench"
+      - "wrench_calc_from_currents"
+
+  VECTOR6D_to_GeometryMsgAccel:
+    rtde_type: "VECTOR6D"
+    output_type: "geometry_msgs/AccelStamped"
+    variables:
+      - "actual_TCP_acceleration"
+      - "target_TCP_acceleration"
+      - "actual_tool_accelerometer"
+
+  VECTOR6D_to_GeometryMsgPose:
+    rtde_type: "VECTOR6D"
+    output_type: "geometry_msgs/PoseStamped"
+    variables:
+      - "actual_TCP_pose"
+      - "target_TCP_pose"
+      - "tcp_offset"
+
+  VECTOR3D_to_GeometryMsgTwist:
+    rtde_type: "VECTOR3D"
+    output_type: "geometry_msgs/TwistStamped"
+    variables:
+      - "elbow_velocity"
+
+  VECTOR3D_to_GeometryMsgPoint:
+    rtde_type: "VECTOR3D"
+    output_type: "geometry_msgs/PointStamped"
+    variables:
+      - "elbow_position"
+      - "payload_cog"
+
+  VECTOR6D_to_GeometryMsgInertia:
+    rtde_type: "VECTOR6D"
+    output_type: "geometry_msgs/InertiaStamped"
+    variables:
+      - "payload_inertia"
+
+  DOUBLE_to_Temperature:
+    rtde_type: "DOUBLE"
+    output_type: "sensor_msgs/Temperature"
+    variables:
+      - "tool_temperature"
+
+  VECTOR6D_to_Float64MultiArray:
+    rtde_type: "VECTOR6D"
+    output_type: "example_interfaces/Float64MultiArray"
+    variables:
+      - "target_q"
+      - "target_qd"
+      - "target_qdd"
+      - "target_current"
+      - "target_moment"
+      - "actual_q"
+      - "actual_qd"
+      - "actual_current"
+      - "actual_current_window"
+      - "actual_current_as_torque"
+      - "joint_control_output"
+      - "joint_temperatures"
+      - "actual_joint_voltage"
+      - "target_base_acceleration"
+
+  DOUBLE_to_BuiltinInterfaces:
+    rtde_type: "DOUBLE"
+    output_type: "builtin_interfaces/Time"
+    variables:
+      - "timestamp"
+      - "actual_execution_time"
+      - "target_execution_time"
+
+  UINT64_to_ByteMultiArray:
+    rtde_type: "UINT64"
+    output_type: "example_interfaces/ByteMultiArray"
+    variables:
+      - "actual_digital_input_bits"
+      - "actual_configurable_digital_input_bits"
+      - "actual_digital_output_bits"
+      - "actual_configurable_digital_output_bits"
+
+  UINT32_to_ByteMultiArray:
+    rtde_type: "UINT32"
+    output_type: "example_interfaces/ByteMultiArray"
+    variables:
+      - "robot_status_bits"
+      - "safety_status_bits"
+      - "analog_io_types"
+      - "input_bit_registers0_to_31"
+      - "input_bit_registers32_to_63"
+      - "output_bit_registers0_to_31"
+      - "output_bit_registers32_to_63"
+      - "euromap67_input_bits"
+      - "euromap67_output_bits"
+      - "tool_analog_input_types"
+
+  UINT32_to_UINT32:
+    rtde_type: "UINT32"
+    output_type: "example_interfaces/UInt32"
+    variables:
+      - "runtime_state"
+      - "tool_mode"
+      - "script_control_line"
+
+  UINT8_to_UINT8:
+    rtde_type: "UINT8"
+    output_type: "example_interfaces/UInt8"
+    variables:
+      - "tool_output_mode"
+      - "tool_digital_output0_mode"
+      - "tool_digital_output1_mode"
+
+  INT32_to_ROBOT_MODE:
+    rtde_type: "INT32"
+    output_type: "ur_dashboard_msgs/RobotMode"
+    variables:
+      - "robot_mode"
+
+  INT32_to_SAFETY_MODE:
+    rtde_type: "INT32"
+    output_type: "ur_dashboard_msgs/SafetyMode"
+    variables:
+      - "safety_mode"