Since it seems that I will use Universal Robotics robots at work, I will summarize how to create a development environment at this time. I just followed the English material with a big surprise, so if you are familiar with it, please comment

What is URCaps

It is a framework for third-party software development of the robot UR series developed by Universal Robotics. (SDK of the program running on the teaching pendant / robot controller)

Purpose of this document

I will summarize the flow from installing URCaps to running the sample program

environment

--Ubunutu 17.10 (built on Windows 10 with virtual box) --Java 8 (Openjdk 8) Officially says to use JDK6

PolyScope 3.4.0.39 has been released March 14th 2017.
URCaps SDK v. 1.1.0.76

procedure

Register with UR +

Register with UR +, the official UR developer forum. You cannot download URCaps unless you register with UR +. Register for an account from here

(Added on 2018/06/10) I forgot, but I will register the phone number at the time of registration. Please note that you will receive a confirmation call from the Japanese subsidiary of UR.

Prepare Linux

Install Linux on your PC. Officially, to develop from other than Linux, you are told to use VMware or Virtualbox and install Linux as a guest OS for development. I started Virtual Box from Windows 10 and built an environment on it.

Install Java

Officially it says Java SDK 6, but it compiles with OpenJDK 8 without any problems, so it should be okay. .. ..

Download & unzip URCap

Log in to UR + ~~ Open the Download URCaps SDK post in your browser. ~~ (20180708 postscript) Download the SDK from the Download Site (https://plus.universal-robots.com/download-center/urcaps-starter-package/)

There is a UR Caps download link at the bottom. You can download it using FTP or from the linked web page.

Since it is a zip file, please unzip it with unzip or tar as you like.

Run install.sh

When you unzip the downloaded file, a file called install.sh is located directly under the unzipped folder. Doing this will install the required software.

$ ./install.sh

At the end of the installation you will be asked if you want to install the GCC toolchain for cross-compilation, but I left it No.

It seems to be necessary when writing a daemon program in C / C ++, so it seems better to include it. .. ..

When I looked into the contents of install.sh, it seemed that I just installed the following software and added the jar file under ./artifacts/ to maven's local repository with mvn install.

Software that seems to be installed with install.sh

dialog
Unknown
sshpass
Software for automating password authentication for ssh login
maven
Needless to say, java build system

Compile the sample

Hello World has been added to the downloaded file

(Unzip destination) Go to /sample/com.ur.urcap.examples.helloworld

$ mvn install

Start build with

At the first time, it took a long time to build because I downloaded various things. It is successful if target / hello_world.urcap is generated with the jar file.

Deploy to robot

Maven command as a way to write a program to a robot

$ mvn install -Premote

It seems that it can be deployed via ssh, but since I did not set the network on the robot side, this time I will put it in the USB memory and deploy it manually

If you go to the [UR Caps setup] screen with the robot teaching pendant, the following screen will be displayed. If you press the [+] button, the screen will switch to the file selection screen, so select usb / hello_world.urcap.

When the installation is started and completed, the following screen will be displayed and the manifest relations will be displayed.

無題.png

Run

Hello World is displayed from the UR Caps tab of the program structure, so it seems that it has been installed successfully.

If a screen like this appears and you can incorporate it into the UR program, it's OK.

When I executed the robot program in this state, a pop-up dialog saying "Hello World" was displayed, so it seems that I was able to execute it.

This probably creates an environment. .. .. Should be!

Alternative to this method

There is a virtual image of Ubuntu, which is an environment built with all the software necessary for development called URCaps Starter Package. You can easily build the environment by downloading from the link below.

Post about URCaps Starter Package (UR + account required)

What I want to do in the future

Follow the Hello World program properly
Since it is written in maven, it is converted to Gradle
Create a project for use from IntelliJ
Deploy via ssh Hopefully you can deploy using Jenkins
Environment construction on windows (alternative method to deployment)
Run URSim (simulation software) on Ubuntu and deploy from Windows on URSim
Check if it can be built on WSL

Universal Robotics UR Caps development environment construction