SAS UR Control Template

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¶

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/.devel/simulation_demo/compose.yml

xhost +local:root
docker compose up

Real 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/.devel/robot_demo/compose.yml

docker compose up

Real robot and simulation¶

Run

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

xhost +local:root
docker compose up

Configuration¶

Universal Robots Software 5.25.0¶

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¶

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