Installation

This chapter explains how to install the ur_robot_driver

Contents:

• Installation of the ur_robot_driver
  • Install from binary packages
  • Build from source
• Setup for real-time scheduling
  • Installing a lowlatency-kernel
  • Setting up Ubuntu with a PREEMPT_RT kernel
    • Preparing
    • Getting the sources for a real-time kernel
      • Verification
    • Compilation
  • Setup user privileges to use real-time scheduling
  • Setup GRUB to always boot the lowlatency / real-time kernel
  • Reboot the PC
  • Check for preemption capabilities
  • Optional: Disable CPU speed scaling
• Setting up a UR robot for ur_robot_driver
  • Network setup
  • Prepare the robot
  • Prepare the ROS PC
  • Extract calibration information
• Installing a URCap on a CB3 robot
• Installing a URCap on a e-Series robot
• Setup URSim with Docker
  • Start a URSim docker container
  • External Control
  • Network setup
  • Script startup