Obbart/universal_robots_ros_driver
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Added notes about minimal polyscope versions

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Felix Mauch
2019-06-27 11:16:17 +02:00
parent 07ccfc094e
commit 487b8b55ae
1 changed files with 4 additions and 1 deletions
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README.md
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@@ -14,7 +14,7 @@ This driver is forked from the [ur_modern_driver](https://github.com/ros-industr
Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_robots_ros_driver/issues) and use [Issue #1 as a template](https://gitlab.com/ur_ros_beta/universal_robots_ros_driver/issues/1).
## Features
* Works for all **CB3 and eSeries** robots and uses the RTDE interface for communication, whenever possible.
* Works for all **CB3 (with software version >= 3.6) and eSeries** robots and uses the RTDE interface for communication, whenever possible.
* **Factory calibration** of the robot inside ROS to reach Cartesian
targets precisely.
* **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (TODO: Write tutorial on how to compile a realtime kernel for Ubuntu)
@@ -68,6 +68,9 @@ $ source devel/setup.bash
For using the *ur_rtde_driver* with a real robot you need to install the
**externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver.
**Note**: For installing this URCap a minimal PolyScope version of 3.6 or 5.0 (in case of eSeries) is
necessary.
To install it you first have to copy it to the robot's **programs** folder which can be done either
via scp or using a USB stick. The installation process is similar for CB3 and eSeries robots and
will be shown side-to-side in this guide.