URCaps External Control

Hello,

I’m trying to integrate the UR10e robot to ROS 2 Foxy on Ubuntu 20.04 with the Universal Robots ROS 2 Driver.

I’ve installed the externalcontrol-1.0.5.urcap file on to the UR10e local controller. https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/foxy/ur_robot_driver/doc/install_urcap_e_series.md

Setup:

UR10e (URSoftware 5.11.9)

  • IP-address: 192.160.0.101
  • Subnet mask: 255.255.255.0

URCaps, External Control

  • Host IP: 192.160.0.100
  • Custom port: 50002 (Default - as guide, linked above, instructs)
  • Host name: tht-stationary02

PC (Ubuntu 20.04)

  • IP-address: 192.160.0.100
  • Subnet mask: 255.255.255.0
  • Firewall disabled (tht@tht-stationary02:~$ sudo ufw status verbose → Status: inactive)

I’m able to run the controllers from my computer, getting the right robot position when RViz launching, but not able to play the robot program (External Control)…?

Thank you for considering my request, I will be grateful for any help you can provide.

Problem solved! I hadn’t enabled Remote Control on the UR10e HMI… :sweat_smile: