Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Clarify robot startup in README #790

Merged
merged 1 commit into from
Sep 19, 2023
Merged

Clarify robot startup in README #790

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 11 additions & 7 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -93,21 +93,25 @@ For getting started, you'll basically need three steps:
binary package installation unless you want to join development and submit changes.

2. **Start & Setup the robot**. Once you've installed the driver, [setup the
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
and [create a program for external
control](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/install_urcap_e_series.html).

Please do this step carefully and extract the calibration as explained
[here](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
Otherwise the TCP's pose will not be correct inside the ROS ecosystem.
Please do this step carefully and extract the calibration as explained
[here](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
Otherwise the TCP's pose will not be correct inside the ROS ecosystem.

If no real robot is required, you can [use a simulated
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
that will behave almost exactly like the real robot.
If no real robot is required, you can [use a simulated
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
that will behave almost exactly like the real robot.


3. **Start the driver**. See the [usage
documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for
details.

4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.

### Install from binary packages
1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). This
branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective
Expand Down
Loading