C++ Driver for the Universal Robot CB2 Controller inspired and using the code from https://github.com/ros-industrial/ur_modern_driver. It has beeen modified and updated by Pol Ramon Canyameres and by Leopold Palomo-Avellaneda, with the aim of being adapted to the Robotics Laboratory of the IOC at UPC.

First clone the driver:

git clone https://github.com/iocroblab/ioc_ur_cb2_driver

Then create and prepare the build folder:

cd ioc_ur_cb2_driver
mkdir build
cd build
cmake ..

Finally, inside the build forlder, compile using:

make

You can test the driver using:

./driver_test