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How to connect YouBot with a Laptop

asked 2015-07-28 11:45:51 -0600

sawa gravatar image

updated 2015-07-29 22:01:23 -0600

Hi,

I am trying to connect my Laptop with KUKA youbot. But, I am failed to do so. So please help me to configure it.

  1. where should the EtherCAT connect to the youbot.
  2. should i start the youbot PC on
  3. or just set the youbot Motor on
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answered 2015-08-01 13:12:50 -0600

My company has the Youbot. I have never used it but what I know is:

The Ethercat on the Youbot is of course connected to the PC inside the robot (running the Ethercat Master) and the ARM(s) and the motors for the wheels.

I guess ROS has to run on the Youbot PC, so yes you need to enable it, also the Motors you need (if you want the Robot to move). Also add a wireless network adapter to the Youbot PC and connect over ssh to it.

Install ROS on your PC and decide where you wil run the ROS master.

On the PC (either yours or the Youbot) with the master you set up the master URI as http://localhost:11311 (you do not have to do anything there) on the other one you set it to http://hostname-of-the-other:11311 .

Be sure to have either the hostnames in the host files, or a DNS running.

Regards,

Christian

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Dear Christian,

Thank you for your reply. I will follow all the steps and will let you know.

Best regards,

Arif

sawa gravatar imagesawa ( 2015-08-04 16:54:15 -0600 )edit
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answered 2015-09-25 07:19:50 -0600

85pando gravatar image

There are two ways to do this:


Using the internal PC

As cyborg-x1 already hinted, you can also use ROS with multiple nodes over a network.

  • Start up the youbot as usual:

    • start up power supply
    • start up internal pc
    • start up arm/motors
  • Connect network cable or wireless adapter, configure as appropriate or your environment.

  • On the youbot:

    • find out your IP adress (via GUI or simply $ sudo ifconfig), e.g. YOUBOT_IP=123.456.789.123
    • set ROS_MASTER_URI: export ROS_MASTER_URI=http://123.456.789.123:11311
    • set ROS_IP: export ROS_IP=123.456.789.123
  • On the laptop/PC:

    • find out your IP adress, e.g. LAPTOP_IP=789.456.123.789
    • set ROS_MASTER_URI: export ROS_MASTER_URI=http://123.456.789.123:11311
    • set ROS_IP: export ROS_IP=123.456.789.123
  • As you need to do the exports for every shell that you start, you might want to put those lines into your .bashrc or somewhere else that will be loaded.

  • Now go back to the youbot and start the driver as usual.
  • Now everything should be ready. When you start nodes on the youbot they will work. When you start nodes on the Laptop/PC they will also work and communicate over your network.

Not using the internal PC

(Have not done this myself, as we wanted the youbot to work with a wireless adapter, so no knowledge on mileage.)

  • Have ROS running on your PC.
  • Connect your Laptop/PC via Ethernet cable to the base (Ethercat1).
  • Connect the Arm to Ethercat2
  • Install the driver from inside ROS or from GitHub
  • Start up the youbot power supply and motor, do _not_ start up the internal PC.
  • Start the driver on your PC/laptop. Everything should work.
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Asked: 2015-07-28 11:45:51 -0600

Seen: 996 times

Last updated: Sep 25 '15