From ca2e2f1ed82bf81a918f701c0fc4d5ef8c37bd73 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 27 Jun 2019 11:16:17 +0200 Subject: [PATCH] Added notes about minimal polyscope versions --- README.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index febd98a..e5ef98f 100644 --- a/README.md +++ b/README.md @@ -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.