Setup for Connecting UR Series Manipulators over ROS 2

Set up and configure the various dependencies for connecting UR Series manipulator over ROS 2

Robotics System Toolbox™ Support Package for Universal Robots UR Series Manipulators (UR Series support package) supports connecting and controlling cobot in URSim simulator and also connecting and controlling the cobot directly, over ROS 2.

Options	Installation Options	Instructions
Connect and control cobot in URSim	Install MATLAB^® and the UR Series support package in Linux^® + Install ROS 2 packages and dependencies in the same Linux machine This is the preferred installation.	Install ROS 2 and Dependencies Set Up URSim Offline Simulator for ROS 2
	Install MATLAB and the UR Series support package in Windows + Install ROS 2 packages and dependencies in Linux in a different machine	Install ROS 2 and Dependencies Set Up URSim Offline Simulator for ROS 2
	Install MATLAB and the UR Series support package in Windows + Install ROS 2 packages and dependencies in a Virtual Machine accessed from the same Windows PC	Install ROS 2 and Dependencies Set Up Virtual Machine Set Up URSim Offline Simulator for ROS 2
Connect and control hardware (UR Series cobot)	Install MATLAB and the UR Series support package in Linux + Install ROS 2 packages and dependencies in the same Linux machine	Install ROS 2 and Dependencies Hardware Setup for UR Series Cobots for ROS 2
Connect and control hardware (UR Series cobot)	Install MATLAB and the UR Series support package in Windows + Install ROS 2 packages and dependencies in Linux in a different machine	Install ROS 2 and Dependencies Hardware Setup for UR Series Cobots for ROS 2

Topics

Install Support for UR Series Hardware for ROS 2
Install Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators for ROS 2.
Install ROS 2 and Dependencies
Install ROS 2 packages and dependencies necessary for working with Universal Robots.
Set Up URSim Offline Simulator for ROS 2
Setup instructions for the URSim simulator from Universal Robots for ROS 2.
Hardware Setup for UR Series Cobots for ROS 2

Set up external control URcap using Universal Robots Teach Pendant and enable remote control from MATLAB computer for ROS 2
- STEP 1: Configure Network Parameters of OEM Control Box and Host Computer
- STEP 2: Install MATLAB URCap for External Control
- STEP 3: Set Up Teach Pendant in Remote Control Mode
- STEP 4: Set Up ROS_IP Environment Variable