Setup for Connecting UR Series Manipulators over ROS

Set up and configure the various dependencies for connecting UR Series manipulator over ROS

The Hardware Setup screens provide on-screen instructions for each step. These topics provide additional information about some of the steps and help you to successfully complete the Hardware Setup process.

Topics

Install Support for UR Series Hardware
Install Robotics System Toolbox™ Support Package for Universal Robots UR Series Manipulators.
Install ROS Packages and Dependencies for ROS
Install ROS packages necessary for working with Universal Robots.
Set Up URSim Offline Simulator
Setup instructions for the URSim simulator from Universal Robots.
Add Custom ROS Message Definitions to MATLAB
Add custom ROS messages to transmit information.
Hardware Setup for UR Series Cobots

Set up external control URcap using Universal Robots Teach Pendant and enable remote control from MATLAB computer.
- STEP 1: Configure Network Parameters of OEM Control Box and Host Computer
- STEP 2: Install MATLAB URCap for External Control
- STEP 3: Set Up Teach Pendant in Remote Control Mode
- STEP 4: Set Up ROS_IP Environment Variable
Troubleshooting Connectivity Issue with ROS Action Server
Troubleshoot connectivity issues when ROS packages and dependencies are installed on a Linux Virtual Machine