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Running Universal_Robots_ROS_Driver in a separate machine
Geo edited this page Oct 7, 2021
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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:
- boot up right UR arm, load program 'external_control.urp'
- 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.
- Start roscore in the main PC:
$ roscore
- 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.
- 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.
- How to setup SSH: https://phoenixnap.com/kb/ssh-to-connect-to-remote-server-linux-or-windows
- Debug network: https://wiki.ros.org/ROS/NetworkSetup
- ROS doc: http://wiki.ros.org/ROS/Tutorials/MultipleMachines
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