URCap deployment methods

URCap Development URCaps SDK
1

There are 4 ways of deploying a URCap to a robot:

  1. Manual deployment over USB
  2. Deploying to a physical robot connected over Ethernet
  3. Deploying to a URSim running in the same environment as the IDE and Maven
  4. Deploying to a URSim running in a VM different from where the IDE and Maven is located

All above are explained in the URCap Tutorial enclosed in the SDK.

1) Manual deployment over USB
Navigate to the URCap project folder (e.g. com.ur.urcap.helloworld)
Build the URCap by writing:
mvn install
After successful build, go to the targetfolder and locate the .urcap-file.
Copy the URCap file to a USB drive and insert the USB stick into the TP of the robot.
Install the URCap under “Setup Robot” > “URCaps Setup”

2) Deploying to a physical robot connected over Ethernet
In the pom.xml file of the URCap, change this section:

<!-- Host, username and password of the robot to be used when running "mvn install -Premote" -->
<urcap.install.host>localhost</urcap.install.host>
<urcap.install.username>root</urcap.install.username>
<urcap.install.password>easybot</urcap.install.password>

When modifying urcap.install.host to the IP-address of the robot, running mvn install -Premote in the project folder, will build and deploy the URCap to the physical robot.

3) Deploying to a URSim running in the same environment as the IDE and Maven
In the pom.xml file of the URCap, change this section:

<!--Install path for the UR Sim-->
<ursim.home></ursim.home>

When modifying ursim.home to the path of the URSim (e.g. /home/ur/ursim-current), running mvn install -P ursim in the project folder will deploy the URCap to URSim.

Note: Above is the most common choice for e.g. the URCaps Starter Package or similar development environments

4) Deploying to a URSim running in a VM different from where the IDE and Maven is located
In the pom.xml file of the URCap, change this section:

<!--Host and standard user/password for UR Sim running in a VM-->
<ursimvm.install.host></ursimvm.install.host>
<ursimvm.install.username>ur</ursimvm.install.username>
<ursimvm.install.password>easybot</ursimvm.install.password>

When modifying the IP, username and password of the URSim running in a VM, running mvn install -P ursimvm in the project folder will deploy the URCap to the URSim running in a VM.

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