sequenceplanner / ur_tools

DEPRECATED

DEPRECATED

Now, everything is at ur_controller and the robot files are at chalmers_robots_info

ur_tools

Description:

A collection of tools for controlling Universal Robots using UR Scripts. Scripts are generated using Tera templates, and communicated to the robot using the UR Script Driver.

Depends on:

https://github.com/sequenceplanner/ur_script_driver
https://github.com/sequenceplanner/ur_script_msgs
https://github.com/sequenceplanner/ur_tools_msgs.git

Structure:

Get a robot or a simulator:

1. Get docker:
   https://docs.docker.com/get-docker/
   NOTE: At least version 19.
   NOTE: Turn off VPN during installation.

2. Get and start the URSim docker container:

   sudo docker run --rm -it \
   --name="dockursim" \
   -e ROBOT_MODEL=UR10 \
   -p 5901:5901 \
   -p 6080:6080 \
   -p 29999:29999 \
   -p 30001-30004:30001-30004 \
   --cpus=2 \
   --privileged kristoferb/ursim:latest
   

3. The Universal Robot Interface can now be accessed at:
   http://localhost:6080/vnc.html?host=localhost&port=6080.

4. To start the container again, you will probably have to kill and remove it first:

   sudo docker kill dockursim
   sudo docker rm dockursim