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README.md

Instructions on how to install the verius libraries uesd in this project.

UR-RTDE

Follow the following steps

  • Run the following commands:
sudo add-apt-repository ppa:sdurobotics/ur-rtde
sudo apt-get update
sudo apt install librtde librtde-dev
  • You will also need this dependency
sudo apt-get install libboost-all-dev

Robotics Library

Install the following in your ubuntu system

sudo apt-add-repository ppa:roblib/ppa
sudo apt-get update
sudo apt-get install librl librl-demos librl-examples librl-dev

Eigen Library (for working with matrices)

The following is probably already installed on your linux machine, but if it is not, use this command to install it.

sudo apt install libeigen3-dev

URSim

Carefully follow the following steps to install URSim.

  • Download URSim from the official UR website: https://www.universal-robots.com/download/?query=ursim

  • Install Java 8

    sudo apt-get install openjdk-8-jdk
    • Confirm Java version 
      java -version
      The output should look something like this: 
      openjdk version "1.8.0_292"
OpenJDK Runtime Environment (build 1.8.0_292-8u292-b10-0ubuntu1~20.04-b10)
OpenJDK 64-Bit Server VM (build 25.292-b10, mixed mode)
    • If there are multiple versions, set the version to Java 8: 
      sudo update-alternatives --config java

  • Install libcurl4

    sudo apt-get update
sudo apt-get install libcurl4
sudo ln -s /usr/lib/x86_64-linux-gnu/libcurl.so.4.5.0 /usr/lib/x86_64-linux-gnu/libcurl.so.4.7.0
sudo apt-get install php7.2-curl

  • Replace the following line in the install.sh file

    commonDependencies='libcurl3 libjava3d-* ttf-dejavu* fonts-ipafont fonts-baekmuk fonts-nanum fonts-arphic-uming fonts-arphic-ukai'

    with

    commonDependencies='libcurl4 openjdk-8-jre libjava3d-* ttf-dejavu* fonts-ipafont fonts-baekmuk fonts-nanum fonts-arphic-uming fonts-arphic-ukai'

  • Make the following files executable

    sudo chmod +x filename.sh
    • start-ursim.sh
    • starturcontrol.sh
    • stopurcontrol.sh
    • URControl

  • Run the installer

    ./install.sh

  • Start URSim

    ./start-ursim.sh
    • If the controller is offline, close URSim and run the following command: 
      sudo ./start-ursim.sh