The main objective of this FTP is to enhance the interfaces and usability of the ROS Industrial Universal Robots driver and required packages (ROS-Control) to provide cartesian control, required in most industrial applications. Additionally, this FTP will focus on enhancing and streamlining the classical use of industrial robots with the versatility of ROS industrial ensuring industrial-grade solutions with the best of both worlds. By allowing the user to implement the control flow in the UR program tree while enabling access to advanced ROS functionalities and control methods this FTP aims to enable the easy integration of ROS into industrial applications.