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¶

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¶

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¶

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