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Connecting The UR3e To The PC

The document provides instructions for connecting a UR3e robot to a PC running ROS in order to control the robot. The first step is to configure the robot and PC networking using the teach pendant and setting a static IP address on the PC. Next, running ros_control nodes allows sending commands to move the robot's joints in RViz. Calibration information can also be extracted from the robot and used in ROS.

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131 views3 pages

Connecting The UR3e To The PC

The document provides instructions for connecting a UR3e robot to a PC running ROS in order to control the robot. The first step is to configure the robot and PC networking using the teach pendant and setting a static IP address on the PC. Next, running ros_control nodes allows sending commands to move the robot's joints in RViz. Calibration information can also be extracted from the robot and used in ROS.

Uploaded by

WhatSoAver
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Connecting the UR3e to the PC

Assuming you have already installerd the ur_robot_driver.

the 1st step we need to do is to ensure that your hardware, the controlling computer and robot, are
properly configured to talk to each-other. Note that by default, the Universal Robot’s networking
capabilities are disabled. To enable networking, use the UR’s teach-pendant to navigate to the Setup
Robot -> Setup Network Menu.

On the other side, plug in the ethernet cable to your pc, we need to set up a static IP adress
manually. Inorder to do so, we need to follow these steps :

Open Network Settings:

• Click on the network icon in the top-right corner.


• Select "Wired Settings" or "Network Settings."
2. Edit Wired Connection:

• Find your wired connection and click on the settings icon.


3. IPv4 Settings:

• In the IPv4 tab, select "Manual" from the dropdown.


4. Add IP Address:

• Click the "Add" button to add a static IP address. The key we chose is :
Adress : 192.168.1.101 ( the chosen adress is arbitrary, but preferably should
not be far from the adress on the robot, in our case the adress is
192.168.1.102)
Netmask : 255.255.255.1
gateway : 192.168.1.1
5. Save and Close:

• Click "Apply" to save the settings.

We can check if our robot is correctly connected by writing in the terminal ping , it should give
back that the robot is connected.

Here you'll have to setup the IP address of the external PC which will be running the ROS driver.
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
then we press the play botton on the bottom right corner and select the new program External
control. You should see the output Robot ready to receive control commands.
To start the driver run the following command in a terminal:

To test the MoveIt configuration with the robot, in another terminal, run :

This should open up an RViz window showing the robot. Try moving around the robot's joints using
the teach panel and watch how it also moves inside ROS.

You can move the robot with the arrows in the Moveit and the click on plan and execute in the rviz
interface. You will see the actual robot following the trajectory you mannually set.

Extract calibration information


Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also
make use of this in ROS, you first have to extract the calibration information from the robot.

This node extracts calibration information directly from a robot, calculates the URDF correction
and saves it into a .yaml file.

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