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Getting Started

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Yaesol Kim edited this page Nov 2, 2021 · 52 revisions

Yaesol's environment

PC: Unbuntu 18.04 with ROS melodic, RT kernel version 5.2.21
Router: ipTIME T5008

Prerequisites

Install Ubuntu and install real-time kernel.
Install ROS following instructions provided here.
Install Universal_Robots_ROS_Driver following instructions provided here.

Network Router Setup

Use a router with more than 5 ports. I failed to use wifi network.
I will use 192.168.1.* IPs for NW connection. Set the router IP like below.

  1. 192.168.0.1에 접속해서 Advanced Setup > LAN Setup의 LAN IP를 192.168.0.1 에서 192.168.1.1로 변경

  2. Apply 후 공유기 재부팅

  3. 192.168.1.1에 접속해서 아래와 같이 변경된 IP 확인

Setup UR5e robot for remote control

I tried to follow the UR ROS package description (here), but robot PC keep shows "external control connection refused". Instead of using this method, I followed the method here.

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