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Universal Robots SDK

This is the Universal Robots SDK, integrated into a Visual Studio Code development container through Docker. This allows developers and users to develop and deploy URCaps more efficiently, without requiring a virtual machine.

Prerequisites: You must have Git, Visual Studio Code, and Docker installed and configured.

If you are using Windows, you need to perform these steps before proceeding:

  1. Open Git Bash from the Start menu as adminstrator.
  2. Run git config --system core.longpaths true in the terminal.
  3. Ensure that your wsl engine is installed correctly and up to date.

Setup

  1. Open Docker Desktop to ensure that the program is running.
  2. Install the Remote Development extension pack for Visual Studio Code.
  3. Open Visual Studio Code.
  4. Type Ctrl+Shift+G to open source control. It should also be the third icon from the top on the left side of the screen.
  5. Enter https://github.com/pheobeyeung/universal_robots_sdk as the remote repository to clone, and pick a desired location to save onto your drive.
  6. Open the cloned repository in VSCode, and reopen in Dev container when prompted. This may take several minutes to load. 6a. If the prompt does not automatically pop up, you can reopen the folder in a dev container by accessing the command palette through:
    • Ctrl+Shift+P on Windows/Linux
    • Command+Shift+P on Mac and search for Dev Containers: Reopen in Container
  7. Type Ctrl+`+Shift to open the Terminal. Congrats! The SDK environment is now successfully setup!

Development

The Universal Robots API provides insight to the capabilities of what you can do with a URCap. There are also PDF tutorials in the /universal_robots_sdk/doc folder as well. URCap java swing examples can be found in the /universal_robots_sdk/samples/ folder. The myURCaps/ folder is referenced in the .gitignore file, meaning that the contents are not tracked by git. Put your own projects inside this directory to ensure that it is unaffected when pulling SDK updates.

New URCap

In order to create a new URCap, enter these commands: $ cd ~/universal_robots_sdk $ ./newURCap.sh

Fill out the appropriate forms and generate a new maven project.

Build URCap

In order to build the URCap, navigate to the folder that contains the project folder. This folder should contain the pom.xml file. From there, edit the pom.xml file so that the line that asks for: <ursim.home></ursim.home> on line 38 is replaced with <ursim.home>/ursim</ursim.home> To build to URCap and deploy to URSim, run this command in the terminal: mvn install -P ursim

The .urcap file can be found in the /target folder of the project folder.

To build URCap without deploying to URSim, run this command in the terminal: mvn install The .urcap file can be found in the /target folder of the project folder.

URSim

To run URSim, run these commands in the terminal: $ cd /universal_robots_sdk $ ./startURSim.sh If the simulator does not work, try to refresh the link that opens on the browser, or open this link manually to start the PolyScope simulator.