Connect PC and UR10 in the same local network. Then run this docker as:
xhost local:root
docker run -it --rm --device=/dev/dri:/dev/dri \
-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY \
-v $PWD:/workspace \
--network host \
kashu98/ur10
Inside Docker
source /universal_robot/devel/setup.bash
If this is your first time; get the robot calibration file:
roslaunch ur_calibration calibration_correction.launch robot_ip:=$ROBOT_IP target_filename:="${PWD}/ur10_calibration.yaml"
Run driver:
roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=$ROBOT_IP kinematics_config:="${PWD}/ur10_calibration.yaml"
On the Robot Controller Panel
Configure IP address on the robot and set the Host machine's IP.
(see this document for setting up urcap on the robot.)
After running the driver in the previous step, use UR Pad to Load Program and open connect.urp then press the play button on the bottom.
Content type
Image
Digest
sha256:87fa45da1…
Size
1.4 GB
Last updated
over 2 years ago
docker pull kashu98/ur10