68 lines
2.6 KiB
ReStructuredText
68 lines
2.6 KiB
ReStructuredText
.. _install-urcap-cb3:
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Installing a URCap on a CB3 robot
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For using the *ur_robot_driver* with a real robot you need to install the
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**externalcontrol-1.0.5.urcap** which can be found inside the **resources** folder of this driver.
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**Note**\ : For installing this URCap a minimal PolyScope version of 3.7 is necessary.
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To install it you first have to copy it to the robot's **programs** folder which can be done either
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via scp or using a USB stick.
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On the welcome screen select *Setup Robot* and then *URCaps* to enter the URCaps installation
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screen.
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.. image:: initial_setup_images/cb3_01_welcome.png
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:target: initial_setup_images/cb3_01_welcome.png
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:alt: Welcome screen of a CB3 robot
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There, click the little plus sign at the bottom to open the file selector. There you should see
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all urcap files stored inside the robot's programs folder or a plugged USB drive. Select and open
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the **externalcontrol-1.0.5.urcap** file and click *open*. Your URCaps view should now show the
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**External Control** in the list of active URCaps and a notification to restart the robot. Do that
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now.
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.. image:: initial_setup_images/cb3_05_urcaps_installed.png
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:target: initial_setup_images/cb3_05_urcaps_installed.png
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:alt: URCaps screen with installed urcaps
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After the reboot you should find the **External Control** URCaps inside the *Installation* section.
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For this select *Program Robot* on the welcome screen, select the *Installation* tab and select
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**External Control** from the list.
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.. image:: initial_setup_images/cb3_07_installation_excontrol.png
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:target: initial_setup_images/cb3_07_installation_excontrol.png
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:alt: Installation screen of URCaps
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Here you'll have to setup the IP address of the external PC which will be running the ROS driver.
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Note that the robot and the external PC have to be in the same network, ideally in a direct
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connection with each other to minimize network disturbances. The custom port should be left
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untouched for now.
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.. image:: initial_setup_images/cb3_10_prog_structure_urcaps.png
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:target: initial_setup_images/cb3_10_prog_structure_urcaps.png
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:alt: Insert the external control node
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To use the new URCaps, create a new program and insert the **External Control** program node into
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the program tree
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.. image:: initial_setup_images/cb3_11_program_view_excontrol.png
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:target: initial_setup_images/cb3_11_program_view_excontrol.png
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:alt: Program view of external control
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If you click on the *command* tab again, you'll see the settings entered inside the *Installation*.
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Check that they are correct, then save the program. Your robot is now ready to be used together with
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this driver.
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