ROS2 Vision-UR Driver Configuration Repository (GitHub Link + Docker Setup)

This repository bridges the gap between ROS2-based perception stacks and UR robotic arms by abstracting low-level hardware interfacing into modular, reusable components. At its core, it leverages ros2_control for real-time joint trajectory control and integrates vision data via sensor_msgs/Image and custom vision_msgs/VisionTarget messages—enabling time-synchronized pose estimation and motion planning. The Docker setup standardizes the development and deployment environment using multi-stage builds: one stage compiles ROS2 dependencies and UR drivers (e.g., ur_robot_driver), while another injects calibrated camera intrinsics, ArUco marker dictionaries, or YOLOv8 inference models via mounted volumes or build arguments. Configuration is managed through YAML-based parameter files supporting both simulation (Gazebo/GzSim) and real-hardware modes, with safety features like velocity limiting, emergency stop hooks, and TF2-based coordinate alignment between camera frames and UR base_link. Industrial users benefit from CI/CD-ready workflows, ROS2 lifecycle node management for graceful shutdown/restart, and support for ROS2 Time Synchronization (e.g., via PTP or simulated clock), ensuring deterministic behavior in time-critical vision-guided tasks.