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z#6|MiLpOtjsTY4IbOe9f{P6qd4Dw1OhX303TNwMpzl&g?1Czu9FzN0;KAVs6{TxjtIhU=t?gxw)|F%meYx}=Hjr~0oUB)nCP2k^l4Ecti2&QHJ$LD`L b8;USTpj?E-7DWv7ONf+&ym-k=1ONX8VjoBW literal 0 HcmV?d00001 diff --git a/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx b/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx index 30c61ac8f..a5eb601ae 100644 --- a/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx +++ b/docs_versioned_docs/version-ros2humble/components/yaml/manipulators/universal_robots.mdx @@ -34,6 +34,8 @@ The Universal Robots arms use the `ur_description` and `ur_driver` ROS 2 Package For more specifics on the way Clearpath's configuration system adds the arm to the robot description, see the [description file](https://github.com/clearpathrobotics/clearpath_common/blob/humble/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro). Note, all parameters to the `xacro:macro universal_robots` can be passed through the `robot.yaml` entry above. For examples, read the sections below. +For more information on how to setup the arm, see the [Universal Robots ROS 2 Driver Documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/index.html). + ### Teach Pendant Setup The following sub-sections will cover the standard UR teach pendant setup, but with the specific Clearpath parameters. For the UR instructions see: [**Setting up a UR robot for ur_robot_driver**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html) and [**Installing a URCap on a e-Series robot**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/install_urcap_e_series.html). @@ -60,7 +62,7 @@ Navigate to the **Settings/System/URCaps** page to install the URCap. Note, you -Navigate to the **Installation/URCaps** page to configure the IP address and hostname of the external device. The standard Clearpath robot computer IP address is `192.168.131.40`. Each robot has its own hostname, we will use `cpr-a300-0000` as a placeholder: +Navigate to the **Installation/URCaps** page to configure the IP address and hostname of the external device. The standard Clearpath robot computer IP address is `192.168.131.1`. Each robot has its own hostname, we will use `cpr-a300-0000` as a placeholder:
diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx index 654753e7c..7751de1b5 100644 --- a/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/manipulators/universal_robots/details.mdx @@ -3,6 +3,8 @@ The Universal Robots arms use the `ur_description` and `ur_driver` ROS 2 Package For more specifics on the way Clearpath's configuration system adds the arm to the robot description, see the [description file](https://github.com/clearpathrobotics/clearpath_common/blob/jazzy/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro). Note, all parameters to the `xacro:macro universal_robots` can be passed through the `robot.yaml` entry above. For examples, read the sections below. +For more information on how to setup the arm, see the [Universal Robots ROS 2 Driver Documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/index.html). + ### Teach Pendant Setup {#ur_teach_pendant_setup} The following sub-sections will cover the standard UR teach pendant setup, but with the specific Clearpath parameters. For the UR instructions see: [**Setting up a UR robot for ur_robot_driver**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html) and [**Installing a URCap on a e-Series robot**](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/install_urcap_e_series.html). @@ -25,6 +27,22 @@ Navigate to the **Settings/System/Networking** page of the UR teach pendant and + +#### Services +
+ +Enabling Services + +In recent versions of the UR control box firmware, the services required to start external control must be enabled manually through the teach pendant. Under the `Settings` page, find the `Security` tab. There should be a `Services` section under the `Security` tab. Enable the `Dashboard Server`, `Primary Client Interface`, and `Real-Time Data Exchange (RTDE)` interfaces. + +
+
+ +
+
+ +
+ #### URCap