Universal Robots hosts a driver for usage with the Robot Operating System (ROS) for CB3 and e-Series where RTDE is available.  
The driver is provided as open-source, and invites users openly to collaborate and contribute to the driver. 

The Universal Robots ROS Driver is available at UR's GitHub account. 

Go to UR's GitHub to find the ROS Driver

Support is available in the UR+ Developer Community. If you encounter issues with the ROS driver, such as bugs or similar, please report these under GitHub’s issue reporting templates.

NOTICE

Your local UR Service or Technical support may not have the resources to assist with ROS.