Use distrobox and install Ubuntu 20
Install ROS noetic from !!!
when using distobox make sure to use
sudo hostname <Username>-Ubuntuto make the distrobox hostname same as machine hostname to prevent ROS communication error
Go into ~/catkin_ws/src/openhaptics…amd64$ or where you download the drivers from (https://support.3dsystems.com/s/article/OpenHaptics-for-Linux-Developer-Edition-v34?language=en_US) and type sudo ./install to install further Touch device drivers. When prompted, type [y] to restart the computer
if there are any issues with the drivers check them out here (https://www.daslhub.org/unlv/wiki/lib/exe/fetch.php?media=touch_drivers_src.zip)
Once your computer restarts, cd into touch driver. Then cd usr/lib to go into the lib folder. Type sudo cp <libphantom.so file> /usr/lib/ to move this library into the proper path
Cd ../.. To go back 2 directories, into the TouchDriver.. directory. Plug in the Touch device into a USB port on your computer. Type sudo chmod 777 /dev/ttyACM0 to initialize device usage.
Note: initialization is required everytime the device in plugin
To check that the Touch is being detected, type ./ListUSBHapticDevices, it should print out /dev/ttyACM0 (which means its recognized and ACM0 is the USB port that its plugged into)
Cd bin and run ./Touch_Setup . A menu should appear and show you the name of the device and the serial number. Just click ‘apply’ there's no need to change anything right now. This step adds configuration files necessary to operate the Touch.
be sure to sure to source the setup.bash file
When that has finished, type roslaunch omni_common omni.launch to launch RViz.
If everything is done correctly, RViz should have opened and you can see a 3D simulation of the Touch device with a blue stylus and blue head. Take the stylus out of the inkwell and you should see the simulation move with you.
If not all joints are published or if the position is fixed and only orentation is changing, change LC_NUMERIC and LANG to "en_US.UTF-8" or put LC_ALL to "en_US.UTF-8"
Look at the Documentation of UR ROS drivers to install from source
connect with lan canle and switch to UR-PC profile for wred network make sure EtherNet/IP is disable
run roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=192.168.1.102wait for message of started controllers start program on TP (start and stop the program, would not work if program was paused and now resumed) TP Program: make a new program: structure>URCAPS>External control wait for
ready to recieve command2nd terminal
roslaunch ur3_moveit_config moveit_planning_execution.launch3rd terminal
roslaunch ur3_moveit_config moveit_rviz.launch rviz_config:=$(rospack find ur3_moveit_config)/launch/moveit.rviz