Fix readme hardware setup (UniversalRobots#91)

* Update to latest external control urcap. * Updated URcap installation to a new version * Fixed some minor issues in the hardware section of the readme - Removed remote control setup since it is only needed for headless mode - Added install instructions for CB3 robot models Co-authored-by: Marvin Große Besselmann <[email protected]> Co-authored-by: Denis Stogl <[email protected]>
sjahr · Apr 23, 2021 · d231355 · d231355
1 parent 32a4fec
commit d231355
Show file tree

Hide file tree

Showing 5 changed files with 9 additions and 9 deletions.
diff --git a/README.md b/README.md
@@ -50,15 +50,15 @@ To use MoveIt some additional packages should be added into workspace:
 
 ## Hardware Setup
 
-1. To enable external control of a UR robot from a remote PC, [install URCap](/ur_robot_driver/doc/install_urcap_e_series.md).
+1. To enable external control of the UR robot from a remote PC you need to install the **externalcontrol-1.0.5.urcap** which can be found inside the **resources** folder of this driver.
 
-2. Switch to Remote Control by clicking on the teach pendant logo on the upper right corner.
+**Note:** For installing this URCap a minimal PolyScope version of 3.7 or 5.1 (in case of e-Series) is necessary.
 
-3. Create a new program. In the Installation tab of the teach pendant, select the URCaps option on the left and adjust the IP address and port number. The remote host's IP can be found using `ifconfig`.
+2. For installing the necessary URCap and creating a program, please see the individual tutorial on how to [setup a CB3 robot](/ur_robot_driver/doc/install_urcap_cb3.md) or how to [setup an e-Series robot](/ur_robot_driver/doc/install_urcap_e_series.md)
 
-4. On the remote PC, launch the suitable launch file which starts the robot driver and controllers.
+3. On the remote PC, launch the suitable launch file which starts the robot driver and controllers.
 
-5. In the Program tab of the teach pendant, navigate to the URCaps section on the left and add the external control to the robot program by clicking on it. The program can then be executed by pressing the play button. Make sure the robot is turned on. The robot power status will be displayed on the bottom left.
+4. In the Program tab of the teach pendant, navigate to the URCaps section on the left and add the external control to the robot program by clicking on it. The program can then be executed by pressing the play button. Make sure the robot is turned on. The robot power status will be displayed on the bottom left.
 
 ## Usage
 

diff --git a/ur_robot_driver/doc/install_urcap_cb3.md b/ur_robot_driver/doc/install_urcap_cb3.md
@@ -1,7 +1,7 @@
 # Installing a URCap on a CB3 robot
 
 For using the *ur_robot_driver* with a real robot you need to install the
-**externalcontrol-1.0.4.urcap** which can be found inside the **resources** folder of this driver.
+**externalcontrol-1.0.5.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 3.7 is necessary.
 
@@ -15,7 +15,7 @@ screen.
 
 There, click the little plus sign at the bottom to open the file selector. There you should see
 all urcap files stored inside the robot's programs folder or a plugged USB drive.  Select and open
-the **externalcontrol-1.0.4.urcap** file and click *open*. Your URCaps view should now show the
+the **externalcontrol-1.0.5.urcap** file and click *open*. Your URCaps view should now show the
 **External Control** in the list of active URCaps and a notification to restart the robot. Do that
 now.
 

diff --git a/ur_robot_driver/doc/install_urcap_e_series.md b/ur_robot_driver/doc/install_urcap_e_series.md
@@ -1,7 +1,7 @@
 # Installing a URCap on a e-Series robot
 
 For using the *ur_robot_driver* with a real robot you need to install the
-**externalcontrol-1.0.4.urcap** which can be found inside the **resources** folder of this driver.
+**externalcontrol-1.0.5.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 5.1 is necessary.
 
@@ -14,7 +14,7 @@ On the welcome screen click on the hamburger menu in the top-right corner and se
 
 There, click the little plus sign at the bottom to open the file selector. There you should see
 all urcap files stored inside the robot's programs folder or a plugged USB drive.  Select and open
-the **externalcontrol-1.0.4.urcap** file and click *open*. Your URCaps view should now show the
+the **externalcontrol-1.0.5.urcap** file and click *open*. Your URCaps view should now show the
 **External Control** in the list of active URCaps and a notification to restart the robot. Do that
 now.
 

diff --git a/ur_robot_driver/resources/externalcontrol-1.0.4.urcap b/ur_robot_driver/resources/externalcontrol-1.0.4.urcap
diff --git a/ur_robot_driver/resources/externalcontrol-1.0.5.urcap b/ur_robot_driver/resources/externalcontrol-1.0.5.urcap