Hello,
i tried to install a selfmade URCap on my UR15e Robot. When i restarted it, the Teach Panel seems to be stuck in the loading Screen. After reviewing the code, I unfortunately noticed, that a Thread might cause this issue by blocking the UI.
Now i cannot access the robot UI anymore to deactivate/deinstall the URCap in order to use my robot again.
Is there any way to remove the URCap or reset the robot to Polyscope “normal” settings?
as a last resort, if there is nothing else to be done, you can reinstall the image, "that is a fresh installation of polyscope, but again, i dont know if there is another way to disable urcaps, maybe a magic file could do the job?
So typically when the pendent locks up on boot, it’s because something in your Activator isn’t valid. A lot of times for me that was due to trying to load images. Forgetting to add “.png” to the end of the filename would lock me out all the time.
In the future, you can add the following to your POM file:
<urcap.install.host>192.168.1.20</urcap.install.host>
<urcap.install.username>root</urcap.install.username>
<urcap.install.password>easybot</urcap.install.password>
I put this just above the Install path for the UR sim. This lets you type “mvn install -P remote” to install the CAP directly to the robot. Just make sure the IP addresses match. This will override the CAP that’s bad.
For now, I think you can still access the linux terminal. Plug a keyboard in and hit Ctrl+Alt+F1. type “root” as the username and “easybot” as the password (assuming you haven’t change the admin password). Poke around in here, but I think from there you can type “cd .urcaps” to get into the urcaps folder. Type ls -a if you’re ever in a bind, to list all the files. You’re looking for “yourURCAP.jar” at which point you type “rm yourURCAP.jar” to remove it, and then you can type either reboot or restart (I forget) to reboot the robot.
Forgetting something in the Validator could be the issue, as i did not activate programmed programNodes that exist in the project, non the less i installed a newer Polyscope Version to another SD-Card (advice from ur-support)
This one works just fine. Just some settings are missing
Also if some of you might happen to now how to properly implement a XMLRPC Daemon for REST communication i would be most interested to know. I am still new to Java so any advice helps
Did you find the sample Daemon project from UR? I forget where that is, but if you google around I’m sure you can find it. I thought it just came packaged with the SDK.
Yes, found it. After some research i even found projects with the REST-Implementation I am looking for.