Directories
	launch
	sas_ur_control_template
	scripts
	src

Detailed Description

SAS UR Control Template

Remarks: Repository for this template: https://github.com/MarinhoLab/sas_ur_control_template \ More information about SmartArmStack is available in https://smartarmstack.github.io/.

This is a control template for Universal Robots robotic manipulators. It relies on sas_robot_driver_ur to communicate with the robot via URCL.

Docker

Sample containers for real robot and simulated robot motion are available. Those can be tested without cloning this repository. For more advanced use, users are advised to clone and modify the sample cpp code in src or the sample Python code in scripts.

Real robot

Attention: For using the real robot, you must have the risk assessments in place. This guide is meant to be helpful but holds absolutely no liability whatsoever. More details are available in the software license.

Warning: This code will move the robot. Be sure that the workspace is free and safe for operation. Be sure that the robot is in a joint configuration in which it will not hit itself or anything around it.

Important: Be sure that the teaching pendant is in Remote Control mode.

Remarks: Use your robot's IP address using the ip parameter in the launch file. Refer to robot_connection_test/compose.yml.

Communication test

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_connection_test
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_connection_test
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/docker/robot_connection_test/compose.yml
 
docker compose up

Moving the robot

https://github.com/user-attachments/assets/62ac7ccd-d7c8-41f7-8af8-1b17919d90f2

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/docker/robot_demo/compose.yml
 
docker compose up

Joint control simulation

https://github.com/user-attachments/assets/bfee1148-bfe3-4425-80da-04fcd65d2b18

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/docker/simulation_demo_v2/compose.yml
 
xhost +local:root
docker compose up

Kinematics simulation

The desired pose can be controlled via the xd dummy on the CoppeliaSim simulation.

mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/docker/simulation_demo_v2_kinematic/compose.yml
 
xhost +local:root
docker compose up

Configuration

Attention: Changing network settings can increase cybersecurity vulnerabilities. This guide is meant to be helpful but holds absolutely no liability whatsoever. More details are available in the software license.

Universal Robots Software 5.25.0

Remarks: Teaching pendant must be in Manual mode.

Necessary settings are shown below.

Enable Networking

Set the network as needed in your application.

Hamburger → Settings → System → Network → Static Address

Enable Remote Control

Hamburger → Settings → System → Remote Control → Enable

Enable Services

Note: Fewer permissions than these might be sufficient, if so please open an issue.

Hamburger → Settings → System → Services → Services


Enabled	Dashboard Server
Enabled	Primary Client Interface
Enabled	Secondary Client Interface
Enabled	Real-Time Client Interface
Enabled	Real-Time Data Exchange (RTDE)
Enabled	Interpreter Mode Socket

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