AS: adding Docker files
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README.md
48
README.md
@ -9,8 +9,8 @@ This repository provides an interface that connects OSC with ROS 2. It allows co
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## Prerequisites
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Either:
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- **Operating System:** Ubuntu 22.04 recommended with ROS 2 installed
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or
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- **Docker:** Ensure Docker and Docker CLI are installed and running
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- [Install for Windows](https://docs.docker.com/desktop/setup/install/windows-install/)
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- [Install for Ubuntu](https://docs.docker.com/engine/install/ubuntu/)
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@ -66,7 +66,29 @@ http://localhost:6080/vnc.html
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---
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## Installation Instructions
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## Connecting to Simulation
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Launch the robot driver (replace `x` with correct IP):
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```bash
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ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=172.18.0.x
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```
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Use `hostname -i` inside each container to retrieve IPs.
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On the teach pendant or URSim, set the ROS 2 container’s IP in the External Control URCap.
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---
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## Check Connection
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You can test if data is flowing correctly with:
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```bash
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ros2 topic echo /joint_states
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```
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---
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## Installation Instructions for the Interface
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1. **Source ROS 2**
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```bash
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@ -118,28 +140,6 @@ The script will guide you through the setup:
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---
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## Connecting to Simulation
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Launch the robot driver (replace `x` with correct IP):
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```bash
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ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=172.18.0.x
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```
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Use `hostname -i` inside each container to retrieve IPs.
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On the teach pendant or URSim, set the ROS 2 container’s IP in the External Control URCap.
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---
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## Check Connection
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You can test if data is flowing correctly with:
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```bash
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ros2 topic echo /joint_states
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```
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---
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## Example Usage
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An example patch in puredata is provided that allows the user to control a 6-DOF robot with sliders via OSC.
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5
ROS2_humble/Dockerfile
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5
ROS2_humble/Dockerfile
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FROM osrf/ros:humble-desktop-full
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RUN apt-get -y update
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RUN apt-get -y upgrade
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RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping
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4
URSim/Dockerfile
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4
URSim/Dockerfile
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FROM universalrobots/ursim_e-series:latest
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COPY externalcontrol-1.0.5.jar /urcaps/externalcontrol-1.0.5.jar
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EXPOSE 5900 6080 29999 30001-30004
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BIN
URSim/externalcontrol-1.0.5.jar
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BIN
URSim/externalcontrol-1.0.5.jar
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