Now, everything is at ur_controller and the robot files are at chalmers_robots_info
A collection of tools for controlling Universal Robots using UR Scripts. Scripts are generated using Tera
templates, and communicated to the robot using the UR Script Driver.
https://github.com/sequenceplanner/ur_script_driver
https://github.com/sequenceplanner/ur_script_msgs
https://github.com/sequenceplanner/ur_tools_msgs.git
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Get docker:
https://docs.docker.com/get-docker/
NOTE: At least version 19.
NOTE: Turn off VPN during installation. -
Get and start the URSim docker container:
sudo docker run --rm -it \ --name="dockursim" \ -e ROBOT_MODEL=UR10 \ -p 5901:5901 \ -p 6080:6080 \ -p 29999:29999 \ -p 30001-30004:30001-30004 \ --cpus=2 \ --privileged kristoferb/ursim:latest
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The Universal Robot Interface can now be accessed at:
http://localhost:6080/vnc.html?host=localhost&port=6080. -
To start the container again, you will probably have to kill and remove it first:
sudo docker kill dockursim sudo docker rm dockursim