Test with URSim eSeries #

Install the universalrobots/ursim_e-series docker image, then run:

sudo docker run --rm -it --net host -e ROBOT_MODEL=UR10 universalrobots/ursim_e-series

To enable URCap External Control, mount the /urcaps folder to a folder containing the urcaps jar files, at start time:

sudo docker run --rm -it --net host -e ROBOT_MODEL=UR10 -v "/home/host_machine_username/urcaps:/urcaps" universalrobots/ursim_e-series

Universal Robots ROS2 Driver #

Follow the build instructions in the official Universal Robots ROS2 Driver repository to install the driver.