diff --git a/ur_rtde_driver/doc/initial_setup.md b/ur_rtde_driver/doc/initial_setup.md new file mode 100644 index 0000000..58e3d9c --- /dev/null +++ b/ur_rtde_driver/doc/initial_setup.md @@ -0,0 +1,115 @@ +# Setting up a UR robot for ur_rtde_driver +## Prepare the robot +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. + +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. + + + Welcome screen of CB3 + Welcome screen of eSeries + + +On the welcome screen select *Setup Robot* and then *URCaps* to enter the URCaps installation screen +(For eSeries click on the hamburger menu in the top-right corner to get to the setup menu). There, +click the little plus sign at the bottom to open the file selector. There you should see all urcap +files stored inside the robot's programs folder or a plugged USB drive. Select and open the +**externalcontrol-1.0.urcap** file and click *open*. Your URCaps view should now show the +**External Control** in the list of active URCaps and a notification to restart the robot. Do that +now. + + + URCaps screen with installed +urcaps + URCaps screen with installed +urcaps + + +After the reboot you should find the **External Control** URCaps inside the *Installation* section. +For this select *Program Robot* on the welcome screen, select the *Installation* tab and select +**External control** from the list. + + + Installation screen of URCaps + Installation screen of URCaps + + +Here you'll have to setup the IP address of the external PC which will be running the ROS driver. +Note that the robot and the external PC have to be in the same network, ideally in a direct +connection with each other to minimize network disturbances. The custom port should be left +untouched for now. + +To use the new URCaps, create a new program and insert the **External Control** program node into +the program tree: + + + Insert the external control node + Insert the external control node + + +If you click on the *command* tab again, you'll see the settings entered inside the *Installation*. +Check that they are correct, then save the program. + + + Program view of external control + Program view of external control + + +## Prepare the ROS PC +For using the driver make sure it is installed (either by the debian package or built from source +inside a catkin workspace). + +### Extract calibration information +Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also +make use of this in ROS, you first have to extract the calibration information from the robot. + +Though this step is not necessary, to control the robot using this driver, it is highly recommended +to do so, as endeffector positions might be off in the magnitude of centimeters. + +For this, there exists a helper script: + + $ rosrun ur_calibration calibration_correction \ + _robot_ip:=192.168.56.101 \ + _robot_name:=ur10_example \ + _output_package_name:=my_calibrations \ + _subfolder_name:=etc + +For the parameter **robot_ip** insert the ip on which the ROS pc can reach the robot. The +**robot_name** is an arbitrary name you can give to the robot. It is recommended, to choose a unique +name that can be easily matched to the physical robot. + +The script will then extract the calibration information from the robot and convert it to a yaml +syntax that can be used by the robot_description. + +The resulting yaml file is stored in the package specified in the **output_package_name** parameter +inside the folder **subfolder_name** with the name **robot_name***_calibration.yaml*. The parameter +**subfolder_name** is optional and defaults to *etc* if not given. + +**Note:** You'll have to provide the name of an existing package. It is recommended to have a +package storing all calibrations of all UR robots inside your organization. This way, the extraction +as described in this package has only to be performed once and the calibration can be reused by +other users. +To create a new package, go to your catkin_workspace's src folder and call + + catkin_create_pkg my_calibrations + +It is recommended to adapt the new package's *package.xml* with a meaningful description. + +### Start the robot driver +To actually start the robot driver use one of the existing launchfiles + + $ roslaunch ur_rtde_driver _bringup.launch robot_ip:=192.168.56.101 \ + kinematics_config:=$(rospack find my_calibrations)/etc/ur10_example_calibration.yaml + +where **** is one of *ur3, ur5, ur10, ur3e, ur5e, ur10e*. Note that in this example we +load the calibration parameters for the robot "ur10_example". If the parameters in that file don't +match the ones reported from the robot, the driver will output an error during startup. + +For more information on the launchfile's parameters see its own documentation. + +Once the robot driver is started, load the previously generated program on the robot panel and +execute it. From that moment on the robot is fully functional. You can make use of the pause +function or even stop the program. 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