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UR10 connection with devcontainer

If you are using the devcontainer with Docker bridge networking, set reverse_ip to the host machine's IP on the robot network so the robot can connect back to ports 50001, 50003, and 50004.

In the devccontainer.json add,

  "runArgs": [
    "--network=bridge",
    "-p",
    "50001:50001",
    "-p",
    "50002:50002",
    "-p",
    "50003:50003",
    "-p",
    "50004:50004"
  ],

while in the grasping_control/ur10.launch.py, set the default value of reverse_ip to the host machine's IP on the robot network.

DeclareLaunchArgument('reverse_ip', default_value=' <host_robot_network_ip>'),

Then launch the arm control node with:

source install/setup.bash
ros2 launch grasping_control ur10.launch.py