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How to run the sample applications

This tutorial explains how to start the sample applications. Before launching any application make sure you are placed inside the isaac/sdk folder, see Nvidias documentation.

Polyscope

Start by preparing the robot for external control. If you are planning on using headless_mode you can skip this step of the tutorial.

  1. For using the ur_robot_driver with none headless mode you need to install the externalcontrol-1.0.5.urcap which can be found inside the resources folder of this driver.

  2. For installing the necessary URCap and creating a program, please see the individual tutorials on how to setup a CB3 robot or how to setup an e-Series robot.

  3. After installing the URCap you should have a Program on your robot looking something like this.

Program view of external control

  1. Now you are all set to start the applications.

Once any of the below applications are running you can start the robot program with loaded URCap. From that moment on the robot is fully functional. You can make use of the Pause function or even Stop the program. Simply press the Play button again and the ISAAC driver will reconnect.

Inside the Application terminal running the driver you should see the output Robot ready to receive control commands.

Simple joint control

This applications starts a jupyter notebook in which you can control the robots joints or the robots tool IO.

  1. Start by launching the application on the isaac side. Remember that You have to stand in the isaac/sdk folder to launch the application.

    $ bazel run packages/universal_robots/apps:simple_joint_control

    This should open a jupyter notebook in your browser looking something like this:

  2. The notebook is divided into different cells, that can be run individually. The cells can be run by using the run button in the top of the notebook. Start by running the first two cells. Which imports the nescerray functionality.

  3. Next we need to update the IP address on which the Isaac PC can reach the robot. We also need to update robot model to the robot model that is being controlled by Isaac, robot models are ur3, ur5, ur10, ur3e, ur5e, ur10e or ur16e. The IP and robot model can be updated in the top of cell 3 see image below.

  4. After updating the IP and robot we can run the third and fourth cell by using the run button. The fourth cell will create the class for controlling the joints, an image can be seen below.

  5. Cell 5 will start the application. An image for the cell can be seen below:

    NOTE Before running the cell you need to update headless_mode configuration to enabled if you didn't install the URCap on the robot. This can be done by changing the ur_driver.config.headless_mode to true see image above. Same approach can be used to update other configuration parameters for the different components in the application.

  6. Now you are ready to launch the application by running cell 5.

    NOTE If you activated headless_mode make sure the robot is powered and running and if you are using e-series that the robot is in remote control.

    After running you should see a panel of 6 sliders, which can be used to control each joint individually. And you should see the below terminal output.

    2021-04-29 09:28:48.354 INFO  packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@159: Waiting to receive the first RTDE data

2021-04-29 09:28:48.362 INFO  packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@162: First RTDE data received

2021-04-29 09:28:48.362 INFO  packages/universal_robots/ur_client_library/src/ur/dashboard_client.cpp@49: Connected: Universal Robots Dashboard Server

  7. If you didn't activate headless_mode, you should start the robot program loaded on the robot with the URCap after starting the program you should see a terminal output similar to the one below.

    2021-04-29 09:43:39.921 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@85: Robot requested program

2021-04-29 09:43:39.921 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@98: Sent program to robot

2021-04-29 09:43:39.934 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/reverse_interface.h@145: Robot connected to reverse interface. Ready to receive control commands.

    Once you have seen the following terminal output Robot connected to reverse interface. Ready to receive control commands. You should be able to control the robots joints.

    Now you can control each joint individually with the slider panel.

    To stop the application again you can run cell 6.

  8. If you want to control the IO's instead of the joints, you can run cell 7 instead of cell 5. Remember to stop the application between running cell 5 and cell 7. This can be done by running cell 6 or cell 8.

    After running cell 7 you will see a slider panel, which can be used to control the robots tool IO.

    NOTE The robot program with the URCap doesn't have to be running on the robot in order to control the IO's.

Predefined waypoint movement

This application moves between preset waypoints. Make sure to update the waypoints based on the actual setup, and make sure that the path between the waypoints are obstacle-free.

Make sure that you have prepared the robot as stated above.

  1. If you plan on using headless_mode make sure the robot is powered on and running. Also if you are using e-series make sure that the robot is in remote control.

  2. Start by running the application with the following command.

    $ bazel run packages/universal_robots/apps:shuffle_box_hardware -- --robot_ip "192.168.56.1" --robot_model "ur5e" --headless_mode false

    For the parameter robot_ip insert the IP address on which the Isaac application can reach the robot. Remember to update robot model according to the robot model that you are using, robot mode is one of ur3, ur5, ur10, ur3e, ur5e, ur10e or ur16e. headless_mode can be used to enable headless_mode or not.

    After running the above command you should see the following output in the terminal.

    2021-04-29 09:28:48.354 INFO  packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@159: Waiting to receive the first RTDE data

2021-04-29 09:28:48.362 INFO  packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@162: First RTDE data received

2021-04-29 09:28:48.362 INFO  packages/universal_robots/ur_client_library/src/ur/dashboard_client.cpp@49: Connected: Universal Robots Dashboard Server

  3. If you didn't activate headless_mode, you should start the robot program with the URCap and you should see a terminal output similar to the one below.

    2021-04-29 09:43:39.921 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@85: Robot requested program

2021-04-29 09:43:39.921 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@98: Sent program to robot

2021-04-29 09:43:39.934 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/reverse_interface.h@145: Robot connected to reverse interface. Ready to receive control commands.

    Once you have seen the log message Robot connected to reverse interface. Ready to receive control commands. the robot should start moving between the predefined waypoints.

Shuffle box hardware

This application moves between preset waypoints. This app assumes a vacuum pump is connected through the digital io interfaces and the robot model is UR10. Make sure to update the waypoints based on the actual setup, and make sure that the path between the waypoints are obstacle-free.

Make sure that you have prepared the robot as stated above.

  1. If you plan on using headless_mode make sure the robot is powered on and running.

  2. Start by running the application with the following command.

    $ bazel run packages/universal_robots/apps:shuffle_box_hardware -- --robot_ip "192.168.56.1" --headless_mode false

    For the parameter robot_ip insert the IP address on which the Isaac application can reach the robot. headless_mode can be used to enable headless_mode or not.

    After running the above command you should see the following output in the terminal.

    2021-04-29 09:28:48.354 INFO  packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@159: Waiting to receive the first RTDE data

2021-04-29 09:28:48.362 INFO  packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@162: First RTDE data received

2021-04-29 09:28:48.362 INFO  packages/universal_robots/ur_client_library/src/ur/dashboard_client.cpp@49: Connected: Universal Robots Dashboard Server

  3. If you didn't activate headless_mode, you should start the robot program with the URCap and you should see a terminal output similar to the one below.

    2021-04-29 09:43:39.921 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@85: Robot requested program

2021-04-29 09:43:39.921 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@98: Sent program to robot

2021-04-29 09:43:39.934 INFO  packages/universal_robots/ur_client_library/include/ur_client_library/comm/reverse_interface.h@145: Robot connected to reverse interface. Ready to receive control commands.

    Once you have seen the log message Robot connected to reverse interface. Ready to receive control commands. the robot should start moving between the waypoints.