Hello,
I cannot get to work ROS2 Humble with URSim docker container, all running on Ubuntu 22.
I installed the ROS2 driver as described in the github and created a docker image by pulling the universalrobots/ursim_e-series and build it with:
FROM universalrobots/ursim_cb3
# Install the URCap
COPY externalcontrol-1.0.5.urcap /urcaps/externalcontrol-1.0.5.jar
The container has IP: 172.17.0.2 and host 172.17.0.1. Both are running in an Ubuntu VM in Windows 11.
I tried both, with or without port specified.
without port I’m getting the same error, as not connected but on console i getting a lot of errors regarding transforms and on rviz the robot remains Panda not UR
This should get you an rviz window with a ur5 robot.
To control the robot, setuo your robot as described here skipping the urcap installation as it is already installed. As remote IP address use 192.168.56.101 as this is what the startup script configures. Leave the port at 5002.
Now, you should be able to press play on your teach pendant and everything should work.
If anything of this fails, if if you get any error output on any shell, please post that complete output.
I’m not working with physical robot, i’m trying to make it work with robot running in docker. I’ve started the docker container with provided script and I’m not seeing any urcap tab to be able to make the simple program and get it running.
On ROS side i have:
ur_ros2_control_node-1] Error: Pipeline producer overflowed!
[ur_ros2_control_node-1] at line 412 in ./include/ur_client_library/comm/pipeline.h
Clearly their is something that I’m not doing right.
First I’ve downloaded the urcap and programs.
Second I’m starting the Docker image with:
sudo docker run --rm -it -v “${URCAP_STORAGE}”:/urcaps -v “${PROGRAM_STORAGE}”:/ursim/programs -p 5900:5900 -e ROBOT_MODEL=“ur5” universalrobots/ursim_e-series
Output:
Universal Robots simulator for e-Series:5.12.4
IP address of the simulator
172.17.0.2
Access the robots user interface through this URL:
I am well aware, that the steps you took are very similar to what the start_ursim.sh does, but please stick to a known path until we found out what is actually going wrong. Since you also seem to have problems with the start_ursim.sh script, there seems to be an uncaught glitch in the setup somewhere. The less we deviate from known paths, the easier to find that.