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Running Universal_Robots_ROS_Driver in a separate machine

Geo edited this page Oct 7, 2021 · 5 revisions

We have set up a small PC with a real-time Linux kernel to run the robot driver. The small PC is connected with the main PC and UR robot controller:

  • small PC: 192.168.0.4
  • main PC: 192.168.0.1
  • right UR arm: 192.168.0.3
  • left UR arm: 192.168.0.2

To run the ROS driver for the right UR arm, follow the steps:

  1. boot up right UR arm, load program 'external_control.urp'
  2. ssh to the mini pc. Open a terminal (in the main PC), run
$ ssh macs@ur-controller-pc

Then type in the passcode: qwertyuiop[] Now you have logged into the mini PC's terminal.

  1. Start roscore in the main PC:
$ roscore
  1. in mini PC's terminal, run:
$ export ROS_MASTER_URI=http://macs:11311/
$ roslaunch macs_dual_arm right_arm_bringup.launch

The UR ROS driver should be started and running on the mini PC now. Run the 'external_control.urp' program, then the driver is ready to receive control commands.

  1. in main PC's terminal, run:
$ export ROS_MASTER_URI=http://macs:11311/

You can run rqt_joint_trajectory_controller in the main PC to send commands to the ROS driver in the mini PC now.

Reference