Installation

The following sections will assume that you’ve created a catkin_workspace and you’ve cloned and built the driver and examples as explained in the following.

First, create a catkin_workspace, clone the repositories and build them:

# create the workspace
source /opt/ros/<your_ros_version>/setup.bash
mkdir -p catkin_ws/src && cd catkin_ws

# clone all necessary repositories
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Tutorials.git

# install dependencies
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# build
catkin_make
source devel/setup.bash

Remember to always source your workspace (as in the last line of the code snippet above) in every new shell.

Docker setup

For most examples to work, you’ll need docker and docker-compose installed and your user needs to be able to run docker containers. Those tools will be installed by the rosdep command above, but you will have to setup your user to execute docker containers accordingly. See the Docker documentation for details.

The short version:

sudo groupadd docker
sudo usermod -aG docker $USER
# log out and log back in

After that you should be able to run docker containers using your user account:

docker run --rm -it universalrobots/ursim_e-series