diff --git a/README.md b/README.md index b9bea15..ad19912 100644 --- a/README.md +++ b/README.md @@ -74,59 +74,9 @@ For using the *ur_rtde_driver* with a real robot you need to install the **Note**: For installing this URCap a minimal PolyScope version of 3.7 or 5.1 (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. - - - 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 - +For installing the necessary URCap and creating a program, please see the individual tutorials on +how to [setup a CB3 robot](ur_rtde_driver/doc/install_urcap_cb3.md) or how to [setup an e-Series +robot](ur_rtde_driver/doc/install_urcap_e_series.md) ### Prepare the ROS PC For using the driver make sure it is installed (either by the debian package or built from source diff --git a/ur_rtde_driver/doc/install_urcap_cb3.md b/ur_rtde_driver/doc/install_urcap_cb3.md new file mode 100644 index 0000000..8d5d1d2 --- /dev/null +++ b/ur_rtde_driver/doc/install_urcap_cb3.md @@ -0,0 +1,44 @@ +# Installing a URCap on a CB3 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. + +**Note**: For installing this URCap a minimal PolyScope version of 3.7 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. + +On the welcome screen select *Setup Robot* and then *URCaps* to enter the URCaps installation +screen. + + ![Welcome screen of a CB3 robot](initial_setup_images/cb3_01_welcome.png) + +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](initial_setup_images/cb3_05_urcaps_installed.png) + +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](initial_setup_images/cb3_07_installation_excontrol.png) + +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. + + ![Insert the external control node](initial_setup_images/cb3_10_prog_structure_urcaps.png) + +To use the new URCaps, create a new program and insert the **External Control** program node into +the program tree + + ![Program view of external control](initial_setup_images/cb3_11_program_view_excontrol.png) + +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. Your robot is now ready to be used together with +this driver. diff --git a/ur_rtde_driver/doc/install_urcap_e_series.md b/ur_rtde_driver/doc/install_urcap_e_series.md new file mode 100644 index 0000000..c745319 --- /dev/null +++ b/ur_rtde_driver/doc/install_urcap_e_series.md @@ -0,0 +1,43 @@ +# Installing a URCap on a s-Series 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. + +**Note**: For installing this URCap a minimal PolyScope version of 5.1 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. + +On the welcome screen click on the hamburger menu in the top-right corner and select *Settings* to enter the robot's setup. There select *System* and then *URCaps* to enter the URCaps installation screen. + + ![Welcome screen of an e-Series robot](initial_setup_images/es_01_welcome.png) + +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](initial_setup_images/es_05_urcaps_installed.png) + +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](initial_setup_images/es_07_installation_excontrol.png) + +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. + + ![Insert the external control node](initial_setup_images/es_10_prog_structure_urcaps.png) + +To use the new URCaps, create a new program and insert the **External Control** program node into +the program tree + + ![Program view of external control](initial_setup_images/es_11_program_view_excontrol.png) + +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. Your robot is now ready to be used together with +this driver.