Setting up Host PC environments

Install software

Install terminator
- sudo apt install terminator
Install Docker
- https://docs.docker.com/engine/install/ubuntu/
Install VSCode, and Remote-Containers extension(recomended).
- https://code.visualstudio.com/

Port forwarding

Port forwarding is required to use real robots and sensors on docker container.
- UR ports.
  - sudo ufw allow 50001
  - sudo ufw allow 50002
  - sudo ufw allow 50003
  - sudo ufw allow 50004
- Cobotta port.
  - sudo ufw allow 5007

Network setting

Set static IP address on LAN adaptor
- This package default : 192.168.56.5

Setting up robot environments

Common

Set static IP address on robot LAN adaptor
- This package default of UR : 192.168.56.42
- This package default of cobotta : 192.168.56.11

Cobotta

Universal Robot

Install external control.urcap and setting LAN info on UR tablet
- https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases

Build docker image of ROS environment on Docker container

Build docker image.
- cd ./env/docker && ./BUILD-DOCKER-IMAGE.sh
You can run docker container, see "Running Docker Container" on README.md.

Enviroment information

Host PC

Ubuntu: 20.04
- ROS Noetic
Docker 24.0.6
- 24.0.0 is required to use script "RUN-DOCKER-CONTAINER.sh"
- Docker-compose is not required, used compose subcommand in docker.

Robot

Cobotta

Software version: 2.16.12
MCU version: UR5e
Software version: 5.11.6