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Hardware and interfaces
The current system consists of two ceiling mounted UR10 manipulators (named red and blue, to match the red and blue marks on each arm and operator console). Blue is equipped with a two fingered robotiq 85 gripper and a robotiq force torque sensor, while red is equipped with a 3 fingered robotiq gripper. Networks to connect to RedArm and BlueArm and 3Finger are already configured.
Blue: 192.168.100.1
Red: 192.168.101.3
Both manipulators are connected to an operator PC, with multiple network cards.
Routing table entries are as follows:
192.168.100.0 * 255.255.255.0 U 100 0 0 enp6s0
192.168.101.0 * 255.255.255.0 U 100 0 0 enp7s0
192.168.1.0 * 255.255.255.0 U 100 0 0 enp8s0
On ethernet device enp6s0, the PC is connected using ip address 192.168.100.2.
On ethernet device enp7s0, the PC is connected using ip address 192.168.101.4.
The two fingered gripper is connected to the operator PC using a USB interface, at /dev/gripper_2f
The three fingered gripper, ip address 192.168.1.11, is connected via ethernet device enp8s0, using operator PC ip address 192.168.1.2.
Two robotiq force torque sensors (FT 300) are connected with udev rules mapping to /ft_red and /ft_blue respectively.