Skip to content

Commit 202a70c

Browse files
author
Felix Exner (fexner)
authored
Move installation instructions to subpage (#870)
* Move installation instructions to subpage Apparently, having the build instructions so prominent on the main page seems to motivate people to build from source instead of installing the binary packages. This change simplifies the main repo page in order to show how to install and quickstart directly, linking to the full instructions from our sphinx doc. * More explicit copy_paste example This example should be ready-to-go when using the URSim example.
1 parent fb2d0ad commit 202a70c

File tree

3 files changed

+82
-58
lines changed

3 files changed

+82
-58
lines changed

‎README.md‎

Lines changed: 10 additions & 58 deletions
Original file line numberDiff line numberDiff line change
@@ -89,8 +89,11 @@ users an overview of the current released state.
8989

9090
For getting started, you'll basically need three steps:
9191

92-
1. **Install the driver** (see below). You can either install this driver from binary packages or build it from source. We recommend a
93-
binary package installation unless you want to join development and submit changes.
92+
1. **Install the driver**
93+
```bash
94+
sudo apt-get install ros-rolling-ur
95+
```
96+
See the [installation instructions](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
9497

9598
2. **Start & Setup the robot**. Once you've installed the driver, [setup the
9699
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
@@ -110,65 +113,14 @@ binary package installation unless you want to join development and submit chang
110113
documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for
111114
details.
112115

113-
4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
114-
115-
### Install from binary packages
116-
1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). This
117-
branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective
118-
branches.
119-
2. Install the driver using
120-
```
121-
sudo apt-get install ros-${ROS_DISTRO}-ur
122-
```
123-
124-
### Build from source
125-
Before building from source please make sure that you actually need to do that. Building from source
126-
might require some special treatment, especially when it comes to dependency management.
127-
Dependencies might change from time to time. Upstream packages (such as the library) might change
128-
their features / API which require changes in this repo. Therefore, this repo's source builds might
129-
require upstream repositories to be present in a certain version as otherwise builds might fail.
130-
Starting from scratch following exactly the steps below should always work, but simply pulling and
131-
building might fail occasionally.
132-
133-
1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). This
134-
branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective
135-
branches.
136-
137-
Once installed, please make sure to actually [source ROS2](https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files) before proceeding.
138-
139-
3. Make sure that `colcon`, its extensions and `vcs` are installed:
140-
```
141-
sudo apt install python3-colcon-common-extensions python3-vcstool
116+
```bash
117+
# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20
118+
# Replace the IP address with the IP address of your actual robot / URSim
119+
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
142120
```
143121

144-
4. Create a new ROS2 workspace:
145-
```
146-
export COLCON_WS=~/workspace/ros_ur_driver
147-
mkdir -p $COLCON_WS/src
148-
```
149-
150-
5. Clone relevant packages, install dependencies, compile, and source the workspace by using:
151-
```
152-
cd $COLCON_WS
153-
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
154-
vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
155-
rosdep update
156-
rosdep install --ignore-src --from-paths src -y
157-
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
158-
source install/setup.bash
159-
```
160-
161-
6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
162-
package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
163-
the semi-binary builds are green, you need to build the upstream dependencies from source. The
164-
easiest way to achieve this, is using the repos file:
122+
4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
165123

166-
```
167-
cd $COLCON_WS
168-
vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
169-
rosdep update
170-
rosdep install --ignore-src --from-paths src -y
171-
```
172124

173125
## MoveIt! support
174126

‎ur_robot_driver/doc/installation/installation.rst‎

Lines changed: 71 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,71 @@
1+
Installation of the ur_robot_driver
2+
===================================
3+
4+
You can either install this driver from binary packages as shown above or build it from source. We
5+
recommend a binary package installation unless you want to join development and submit changes.
6+
7+
Install from binary packages
8+
----------------------------
9+
10+
1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
11+
branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
12+
2. Install the driver using
13+
14+
.. code-block:: bash
15+
16+
sudo apt-get install ros-${ROS_DISTRO}-ur
17+
18+
19+
Build from source
20+
-----------------
21+
22+
Before building from source please make sure that you actually need to do that. Building from source
23+
might require some special treatment, especially when it comes to dependency management.
24+
Dependencies might change from time to time. Upstream packages (such as the library) might change
25+
their features / API which require changes in this repo. Therefore, this repo's source builds might
26+
require upstream repositories to be present in a certain version as otherwise builds might fail.
27+
Starting from scratch following exactly the steps below should always work, but simply pulling and
28+
building might fail occasionally.
29+
30+
1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
31+
branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
32+
33+
Once installed, please make sure to actually `source ROS2 <https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files>`_ before proceeding.
34+
35+
3. Make sure that ``colcon``, its extensions and ``vcs`` are installed:
36+
37+
.. code-block:: bash
38+
39+
sudo apt install python3-colcon-common-extensions python3-vcstool
40+
41+
42+
4. Create a new ROS2 workspace:
43+
44+
.. code-block:: bash
45+
46+
export COLCON_WS=~/workspace/ros_ur_driver
47+
mkdir -p $COLCON_WS/src
48+
49+
5. Clone relevant packages, install dependencies, compile, and source the workspace by using:
50+
51+
.. code-block:: bash
52+
53+
cd $COLCON_WS
54+
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
55+
vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
56+
rosdep update
57+
rosdep install --ignore-src --from-paths src -y
58+
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
59+
source install/setup.bash
60+
61+
6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
62+
package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
63+
the semi-binary builds are green, you need to build the upstream dependencies from source. The
64+
easiest way to achieve this, is using the repos file:
65+
66+
.. code-block:: bash
67+
68+
cd $COLCON_WS
69+
vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
70+
rosdep update
71+
rosdep install --ignore-src --from-paths src -y

‎ur_robot_driver/doc/installation/toc.rst‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -9,6 +9,7 @@ This chapter explains how to install the ``ur_robot_driver``
99
:maxdepth: 4
1010
:caption: Contents:
1111

12+
installation
1213
real_time
1314
robot_setup
1415
install_urcap_cb3

0 commit comments

Comments
 (0)