Getting Started

Yaesol's environment

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

IP address:

left arm: 192.168.1.21
right arm: 192.168.1.22

left finger: 192.168.1.11
right finger: 192.168.1.12

Prerequisites

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

Enables UR5e robot 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.

Network Setup

1. Router Setup
2. ROS_MASTER PC Setup
3. UR5e Setup