Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Moved URCap installation to separate files

Browse Source
This commit is contained in:
Felix Mauch
2019-07-01 21:54:54 +02:00
parent ed7ff474fa
commit d0541298d3
3 changed files with 90 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
ur_rtde_driver/doc/install_urcap_cb3.md Normal file
View File

@@ -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.

43
ur_rtde_driver/doc/install_urcap_e_series.md Normal file
View File

@@ -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.