pla10/ursim_e-series repository overview

⁠pla10/ursim_e-series Docker Image

The pla10/ursim_e-series Docker image provides a robust and efficient simulation environment for the UR e-Series robotic arms, including the UR5 model. This image is tailored for robotics researchers, developers, and students who require a ready-to-use simulation for testing and development.

This Docker image is a key component for the "Fundamentals of Robotics" course at the University of Trento, offering a seamless experience for integrating the URSim simulator with ROS 2 environments.

⁠Key Features

• URSim Simulator: Pre-installed Universal Robots simulator for the e-Series.
• Multi-platform support: Works across various operating systems via Docker.
• Customizable Robot Models: Choose different UR robot models by setting the ROBOT_MODEL environment variable.
• Network Integration: Configured to work with ROS 2 containers like pla10/ros2_ur5_interface⁠.
• Ports Exposed: Opens all necessary ports for robot control and dashboard server.

⁠How to Use

1. Run the pla10/ursim_e-series Docker image to start the URSim simulator:

   docker run --rm -d --net ursim_net --ip 192.168.56.101 \
   -e ROBOT_MODEL=UR5 \
   -p 6080:6080 -p 30001-30004:30001-30004 -p 29999:29999 \
   --name ursim pla10/ursim_e-series
   

   Copy

• Replace ROBOT_MODEL=UR5 with your desired model (e.g., UR3, UR10).

1. Access the URSim interface:
   • Open your browser and navigate to http://localhost:6080⁠ to interact with the simulator.
2. To prepare the robot to work with ROS2 you need to go to the program tab and add the URCaps > External Control.
3. Combine with pla10/ur5_simulation for a complete simulation and ROS 2 workspace:
   • Ensure both images are running on the same Docker network (ursim_net).