URCaps External Control

The External Control URCap is the user interface for the Universal Robots ROS, ROS2 and Isaac SDK driver, as well as the Universal Robots Client Library used by the drivers.

It supports the Universal Robots CB3 and e-Series robots.

Prerequisites

As this URCap is using swing to implement the user interface, the URCap library in version 1.3.0 or higher is required. Therefore the minimal PolyScope versions are 3.7 and 5.1.

Usage

• In the Installation tab of Polyscope:
  • Adjust the IP address of your robot in the Installation tab of Polyscope (this step might be unnecessary in simulation).
• On the remote PC:
  • Launch the suitable launch file for UR3/UR5/UR10 and CB3/e-series.
• In the Program tab of Polyscope:
  • Add this URcap to a program by selecting it from the side menu under the tab URcap.
  • Execute the program by pressing the play button in the Program tab of Polyscope.

Multiple URCap nodes

To use this URCap node multiple times in a ur program, the control script is divided into two scripts. After receiving the script, it is divided into a header part and a control loop part. The header part consist of all the function deffinitions. The header is only inserted once in the program, while the control loop is inserted for each URCap node in the program tree.

To be able to distinguish between header and control loop, the header part of the script should be encapsulated in:

# HEADER_BEGIN
Here goes the header code
# HEADER_END

# NODE_CONTROL_LOOP_BEGINS
Here goes the control loop code
# NODE_CONTROL_LOOP_ENDS

If its not possible to find either # HEADER_BEGIN or # HEADER_END, the script will not be divided into two scripts and it will not be possible to have multiple URCap nodes in one program.

Acknowledgment

Developed in collaboration between:

  and   .

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Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.