Setup UR Robot

Requirements

UR e-series (recommended) or CB3

Install UR driver and setup

Setup the network connection

  1. Open the network settings from the UR teach pendant (Setup Robot -> Network) and enter these settings (possibly adapt the ip space 192.168.1.xx to your needs):

    IP address: 192.168.1.102
Subnet mask: 255.255.255.0
Default gateway: 192.168.1.1
Preferred DNS server: 192.168.1.1
Alternative DNS server: 0.0.0.0

  2. On the remote PC, turn off all network devices except the “wired connection”, e.g. turn off wifi.

  3. Open Network Settings and create a new Wired connection with these settings. You may want to name this new connection UR or something similar:

    IPv4
Manual
Address: 192.168.1.101
Netmask: 255.255.255.0
Gateway: 192.168.1.1

  4. Verify the connection from the PC with e.g. ping. 192.168.1.102 is the robot ip in this case.

    ping 192.168.1.102

Set up the robot

Follow the instructions of the ur robot driver: Setup the robot (Use the ip you set above)

Note: You can download the calibration correction and use it in your package like this:

roslaunch ur_calibration calibration_correction.launch robot_ip:=192.168.1.102 target_filename:="${HOME}/catkin_ws/src/<your_ros_package>/config/ur10e_kinematics.yaml"

ROS launch file

We recommend putting the robot into a namespace, e.g. /robot. The following launchfile loads the driver for a UR10e robot. Use the ip you set on the robot

<?xml version="1.0"?>

<launch>
    <arg name="robot_ip" default="192.168.1.102"/>
    <group ns="robot">

        <!-- ROS control: make pitasc controller available -->
        <rosparam command="load" file="$(find pitasc_controller)/controller/pitasc_controller.yaml"/>

        <!-- robot driver (official) -->
        <include file="$(find ur_robot_driver)/launch/ur10e_bringup.launch">
            <arg name="robot_ip" value="$(arg robot_ip)"/>
            <!-- create your own upload launch file for using your own robot description -->
            <!-- <arg name="robot_description_file" value="$(find <your_ros_package>)/launch/ur10e_upload.launch"/> -->
            <!-- enter the tf_prefix if you set it in a custom urdf -->
            <!-- <arg name="tf_prefix" value=""/> -->
            <arg name="controllers" default="joint_state_controller speed_scaling_state_controller force_torque_sensor_controller pitasc_vel_control"/>
            <arg name="stopped_controllers" default="joint_group_vel_controller"/>
            <!-- use the factory calibration of your robot for higher accuracy -->
            <!-- <arg name="kinematics_config" default="$(find <your_ros_package>)/config/ur10e_kinematics.yaml"/> -->
        </include>

    </group>

</launch>

pitasc environment

To let pitasc take joint states and urdf description from the robot namespace, it needs to be configured. Set the urdf prefix if you have one (tf_prefix in the ur launch file)

<pitasc>
    <models>
        (...)
        <include package="pitasc_library" file="universal_robots/ur.xml"/>
    </models>

    <clone prototype="project">

        <member id="configuration">
            <!-- Use the default configuration with 500Hz rate (for e series, 125Hz for CB3) -->
            <clone id="configuration" prototype="default_configuration">
                <member id="update_rate">500</member>
            </clone>
        </member>

        <member id="environment">
            <clone prototype="robot_ur10">
                <member id="robot_driver.max_velocity">2.0</member>
                <member id="robot_driver.max_acceleration">3.0</member>
                <member id="namespace">robot</member>
                <member id="urdf_prefix"></member>
            </clone>
        </member>

        <member id="applications">
        (...)