Supported Workflows for UR Cobots and URSim

Simulation - Connection Options Between URSim, MATLAB, and ROS Master PC

The simulation workflow for bin picking example can be achieved in the following ways,

Workflow	ROS Master	URSim	MATLAB®	Schematic
1	VM (Ubuntu® - Linux®) (ROSDeviceAddress)		Windows®
2	Ubuntu – Linux (ROSDeviceAddress)

Key takeaways relating to robotAddress and ROSDeviceAddress,

• In above Workflow(s), URSim is installed in the same device as ROS device,

  • Hence the robot IP will be the same as the local host IP (127.0.0.1).

  • Therefore, the robotAddress for URSim will be 127.0.0.1

    Example: roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:= <robotAddress>

• The rosdeviceAPI uses the ROSDeviceAddress where the IP address is from ROS Master.

  Example: rosdevice(ROSDeviceAddress,username,password)

Hardware - Connection Options Between Cobot, MATLAB, and ROS Master PC

To use the UR Robot to execute the bin picking example, the robot needs to be connected to a Host Linux PC, MATLAB can be operated from either Linux or Separate Windows Machine connected to same server,

Workflow	ROS Master	MATLAB	Schematic
1	Ubuntu – Linux (ROSDeviceAddress0	Windows
2	Ubuntu – Linux (ROSDeviceAddress0

The robotAddress is the IP address of the robot hardware.

• In above Workflow(s), Cobot has a separate IP Address,

  • The robotAddress  is the IP address of the UR Cobot

    Example: roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:= <robotAddress>

• The rosdeviceAPI uses the ROSDeviceAddress where the IP address is from ROS Master.

  Example: rosdevice(ROSDeviceAddress,username,password)

Note

In the above-mentioned workflows for simulation and cobot, workflow-2 using Linux PC is recommended.