Obbart/universal_robots_ros_driver
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Moved URCap installation to separate files

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Felix Mauch
2019-07-01 21:54:54 +02:00
parent ed7ff474fa
commit d0541298d3
3 changed files with 90 additions and 53 deletions
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README.md
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@@ -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.
<tr>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_01_welcome.png" alt="Welcome screen of CB3" style="width: 45%;"/> </td>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_01_welcome.png" alt="Welcome screen of eSeries" style="width: 45%;"/> </td>
</tr>
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.
<tr>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_05_urcaps_installed.png" alt="URCaps screen with installed
urcaps" style="width: 45%;"/> </td>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_05_urcaps_installed.png" alt="URCaps screen with installed
urcaps" style="width: 45%;"/> </td>
</tr>
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.
<tr>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_07_installation_excontrol.png" alt="Installation screen of URCaps" style="width: 45%;"/> </td>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_07_installation_excontrol.png" alt="Installation screen of URCaps" style="width: 45%;"/> </td>
</tr>
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:
<tr>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_10_prog_structure_urcaps.png" alt="Insert the external control node" style="width: 45%;"/> </td>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_10_prog_structure_urcaps.png" alt="Insert the external control node" style="width: 45%;"/> </td>
</tr>
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.
<tr>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/cb3_11_program_view_excontrol.png" alt="Program view of external control" style="width: 45%;"/> </td>
<td> <img src="ur_rtde_driver/doc/initial_setup_images/es_11_program_view_excontrol.png" alt="Program view of external control" style="width: 45%;"/> </td>
</tr>
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