data/robot_code/env/docker/README.md

Setting up Host PC environments

1. Install software

• Install terminator
  • sudo apt install terminator
• Install Docker
  • https://docs.docker.com/engine/install/ubuntu/
• Install VSCode, and Remote-Containers extension(recomended).
  • https://code.visualstudio.com/

2. Port forwarding

• Port forwarding is required to use real robots and sensors on docker container.
  • UR ports.
    • sudo ufw allow 50001
    • sudo ufw allow 50002
    • sudo ufw allow 50003
    • sudo ufw allow 50004
  • Cobotta port.
    • sudo ufw allow 5007

3. Network setting

• Set static IP address on LAN adaptor
  • This package default : 192.168.56.5

Setting up robot environments

Common

• Set static IP address on robot LAN adaptor
  • This package default of UR : 192.168.56.42
  • This package default of cobotta : 192.168.56.11

Cobotta

Universal Robot

• Install external control.urcap and setting LAN info on UR tablet
  • https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases

Build docker image of ROS environment on Docker container

• Build docker image.
  • cd ./env/docker && ./BUILD-DOCKER-IMAGE.sh
• You can run docker container, see "Running Docker Container" on README.md.

Enviroment information

Host PC

• Ubuntu: 20.04
  • ROS Noetic
• Docker 24.0.6

  • 24.0.0 is required to use script "RUN-DOCKER-CONTAINER.sh"

  • Docker-compose is not required, used compose subcommand in docker.

Robot

Cobotta

• Software version: 2.16.12
• MCU version: UR5e
• Software version: 5.11.6