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Daniel

Hi. Has anyone tried to or does anyone know how to remote control Polyscope, the user interface of Universal robots?

I’ve had the idea to install VNC server on a robot to be able to remote control the user interface. And now I can see a company already is selling it as a part of a product:

https://blog.universal-robots.com/industry-40-is-here

Does anyone know how to install VNC server on a UR robot?

Maybe it’s possible to install and set up VNC server using a magic script?

I know that by attaching a USB keyboard and by pressing <ctrl>+<alt>+<F2> you’ll switch interface to the Linux console. Maybe it’s possible to install VNC through this console? (pw: easybot) (Press <ctrl>+<alt>+<F7> to switch back to Polyscope.)

By installing VNC server it would be possible to remote control and troubleshoot a robot from office PC, tablet or smart phone... It could be quite useful.






Daniel

Hi, I made backup of USB-drive using ImageUSB and I was able to boot form a cloned USB3 drive. After some testing I was able to install and run x11vnc on a CB3.1 robot.

Now I'm trying to make x11vnc service start automatically on system boot. Do you know how to solve this @PierreOlivier_Proulx ?


[Deleted User]

I've been working on a VNC solution for the robots, thought I could as well share it with you guys:


I'm using UltraVNC Viewer to connect to the VNC server.

Hope this helps some of you!

MarcelP

-

mchangala

Hello,

I am trying to install x11vnc.  I have edit, removed the hash in,etc/apt/sources.list. Then I ran apt-get update and got the following:


root@ur-2016352878:~# apt-get update
Err http://packages.ur-update.dk ./ Release.gpg
  Could not resolve 'packages.ur-update.dk'
Ign http://ftp.dk.debian.org wheezy Release.gpg
Ign http://ftp.dk.debian.org wheezy Release
Ign http://ftp.dk.debian.org wheezy/main i386 Packages/DiffIndex
Ign http://ftp.dk.debian.org wheezy/contrib i386 Packages/DiffIndex
Err http://ftp.dk.debian.org wheezy/main Sources
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Err http://ftp.dk.debian.org wheezy/contrib Sources
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Ign http://ftp.dk.debian.org wheezy/contrib Translation-en
Ign http://ftp.dk.debian.org wheezy/main Translation-en
Err http://ftp.dk.debian.org wheezy/main i386 Packages
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Err http://ftp.dk.debian.org wheezy/contrib i386 Packages
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Reading package lists... Done
W: Failed to fetch http://packages.ur-update.dk/ubuntu/./Release.gpg  Could not resolve 'packages.ur-update.dk'

W: Failed to fetch http://ftp.dk.debian.org/debian/dists/wheezy/main/source/Sources  403  Forbidden: category denied [IP: 130.225.254.116 80]

W: Failed to fetch http://ftp.dk.debian.org/debian/dists/wheezy/contrib/source/Sources  403  Forbidden: category denied [IP: 130.225.254.116 80]

W: Failed to fetch http://ftp.dk.debian.org/debian/dists/wheezy/main/binary-i386/Packages  403  Forbidden: category denied [IP: 130.225.254.116 80]

W: Failed to fetch http://ftp.dk.debian.org/debian/dists/wheezy/contrib/binary-i386/Packages  403  Forbidden: category denied [IP: 130.225.254.116 80]

W: Some index files failed to download. They have been ignored, or old ones used instead.

Also,
root@ur-2016352878:~# apt-get install X11vnc
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package X11vnc
root@ur-2016352878:~#





thewave

I've been working on a VNC solution for the robots, thought I could as well share it with you guys:

  • Connect the robot to the internet and make sure it has an IP adress configured (DHCP/Static).
  • Connect to the SSH shell using putty (user:root / pass:easybot)
  • Run "apt-get update" and "apt-get install x11vnc". (I didn't want to break anything, so I didn't do an upgrade!).
  • Run "x11vnc -storepasswd YOURPASSWORD /etc/x11vnc.pass"
  • Edit ~/xsession as PierreOlivier_Proulx said, adding: "/usr/bin/x11vnc -xkb -noxrecord -noxfixes -noxdamage -display :0 -rfbauth /etc/x11vnc.pass -rfbport 5900 -forever -auth root -bg -o /var/log/x11vnc.log" at the beginning of the file (after the #!/bin/bash).This starts a x11 VNC server, with all the necessary options to make it run on background forever.

I'm using UltraVNC Viewer to connect to the VNC server.

Hope this helps some of you!

Hi, I just stumbled into this thread and got vnc working with these steps. The only problem i'm having is getting it to auto start on power on.
If I execute (/usr/bin/x11vnc -xkb -noxrecord -noxfixes -noxdamage -display :0 -rfbauth /etc/x11vnc.pass -rfbport 5900 -forever -auth root -bg -o /var/log/x11vnc.log) in ssh it starts and works fine.
When I add it to xsession as noted above it is not running when I reboot. I did notice it does start making the x11vnc.log though. I will kill vnc, delete the log then reboot. I log in and see the log was made and it shows it parsed the parameters then shows a bunch of help stuff then ends.
If i delete the log and send the command through ssh command the log file looks different and has much more in it.

Any Ideas?

Thanks,
Brian.

thewave

@thewave Where is the vnc command located in the xsession file. Can you post it?
Here is my xsession file
#!/bin/bash

/usr/bin/x11vnc -xkb -noxrecord -nofixes -noxdamage -display :0 -rfbauth /etc/x11vnc.pass -rfbport 5900 -forever -auth root -bg -o /var/log/x11vnc.log

export DISPLAY=:0

xmodmap -e 'clear Lock' \
        -e 'keycode 0x42 = Control_L' \
        -e 'add Control  = Control_L' \
        -e 'keycode 0x16 = BackSpace' \
        -e 'keycode 0x6B = Delete'

xset s off
xset -dpms
xsetroot -solid black

loopval=0
while test x$loopval != x131;
do
  source /root/run_gui.sh

  if test x$loopval == x10; then
    touch /tmp/.reboot
    exit 10
  else
    nice $RUN_GUI
  fi
  loopval=$?
done

thewave

My VNC log file from the xsession start:

20/01/2018 08:27:10 passing arg to libvncserver: -nofixes
20/01/2018 08:27:10 passing arg to libvncserver: -rfbauth
20/01/2018 08:27:10 passing arg to libvncserver: /etc/x11vnc.pass
20/01/2018 08:27:10 passing arg to libvncserver: -rfbport
20/01/2018 08:27:10 passing arg to libvncserver: 5900
20/01/2018 08:27:10 x11vnc version: 0.9.13 lastmod: 2011-08-10  pid: 2571
20/01/2018 08:27:10 Using X display :0
20/01/2018 08:27:10 rootwin: 0xae reswin: 0x400001 dpy: 0x83b2408
20/01/2018 08:27:10 
20/01/2018 08:27:10 ------------------ USEFUL INFORMATION ------------------
20/01/2018 08:27:10 
20/01/2018 08:27:10 Wireframing: -wireframe mode is in effect for window moves.
20/01/2018 08:27:10   If this yields undesired behavior (poor response, painting
20/01/2018 08:27:10   errors, etc) it may be disabled:
20/01/2018 08:27:10    - use '-nowf' to disable wireframing completely.
20/01/2018 08:27:10    - use '-nowcr' to disable the Copy Rectangle after the
20/01/2018 08:27:10      moved window is released in the new position.
20/01/2018 08:27:10   Also see the -help entry for tuning parameters.
20/01/2018 08:27:10   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:27:10   repaint the screen, also see the -fixscreen option for
20/01/2018 08:27:10   periodic repaints.
20/01/2018 08:27:10 
20/01/2018 08:27:10 XFIXES available on display, resetting cursor mode
20/01/2018 08:27:10   to: '-cursor most'.
20/01/2018 08:27:10   to disable this behavior use: '-cursor arrow'
20/01/2018 08:27:10   or '-noxfixes'.
20/01/2018 08:27:10 using XFIXES for cursor drawing.
20/01/2018 08:27:10 GrabServer control via XTEST.
20/01/2018 08:27:10 
20/01/2018 08:27:10 Scroll Detection: -scrollcopyrect mode is in effect to
20/01/2018 08:27:10   use RECORD extension to try to detect scrolling windows
20/01/2018 08:27:10   (induced by either user keystroke or mouse input).
20/01/2018 08:27:10   If this yields undesired behavior (poor response, painting
20/01/2018 08:27:10   errors, etc) it may be disabled via: '-noscr'
20/01/2018 08:27:10   Also see the -help entry for tuning parameters.
20/01/2018 08:27:10   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:27:10   repaint the screen, also see the -fixscreen option for
20/01/2018 08:27:10   periodic repaints.
20/01/2018 08:27:10 X FBPM extension not supported.
20/01/2018 08:27:10 X display is capable of DPMS.
20/01/2018 08:27:10 --------------------------------------------------------
20/01/2018 08:27:10 
20/01/2018 08:27:10 Default visual ID: 0x21
20/01/2018 08:27:10 Read initial data from X display into framebuffer.
20/01/2018 08:27:10 initialize_screen: fb_depth/fb_bpp/fb_Bpl 16/16/1600
20/01/2018 08:27:10 *** unrecognized option(s) ***
20/01/2018 08:27:10 	[1]  -nofixes
20/01/2018 08:27:10 For a list of options run: x11vnc -opts
20/01/2018 08:27:10 or for the full help: x11vnc -help
20/01/2018 08:27:10 
20/01/2018 08:27:10 Here is a list of removed or obsolete options:
20/01/2018 08:27:10 
20/01/2018 08:27:10 removed: -hints, -nohints
20/01/2018 08:27:10 removed: -cursorposall
20/01/2018 08:27:10 removed: -nofilexfer, now the default.
20/01/2018 08:27:10 
20/01/2018 08:27:10 renamed: -old_copytile, use -onetile
20/01/2018 08:27:10 renamed: -mouse,   use -cursor
20/01/2018 08:27:10 renamed: -mouseX,  use -cursor X
20/01/2018 08:27:10 renamed: -X,       use -cursor X
20/01/2018 08:27:10 renamed: -nomouse, use -nocursor
20/01/2018 08:27:10 renamed: -old_pointer, use -pointer_mode 1

My vnc log if i start it from SSH
20/01/2018 08:29:59 passing arg to libvncserver: -rfbauth
20/01/2018 08:29:59 passing arg to libvncserver: /etc/x11vnc.pass
20/01/2018 08:29:59 passing arg to libvncserver: -rfbport
20/01/2018 08:29:59 passing arg to libvncserver: 5900
20/01/2018 08:29:59 x11vnc version: 0.9.13 lastmod: 2011-08-10  pid: 4618
20/01/2018 08:29:59 Using X display :0
20/01/2018 08:29:59 rootwin: 0xae reswin: 0xc00001 dpy: 0x83b2448
20/01/2018 08:29:59 
20/01/2018 08:29:59 ------------------ USEFUL INFORMATION ------------------
20/01/2018 08:29:59 
20/01/2018 08:29:59 Wireframing: -wireframe mode is in effect for window moves.
20/01/2018 08:29:59   If this yields undesired behavior (poor response, painting
20/01/2018 08:29:59   errors, etc) it may be disabled:
20/01/2018 08:29:59    - use '-nowf' to disable wireframing completely.
20/01/2018 08:29:59    - use '-nowcr' to disable the Copy Rectangle after the
20/01/2018 08:29:59      moved window is released in the new position.
20/01/2018 08:29:59   Also see the -help entry for tuning parameters.
20/01/2018 08:29:59   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:29:59   repaint the screen, also see the -fixscreen option for
20/01/2018 08:29:59   periodic repaints.
20/01/2018 08:29:59 GrabServer control via XTEST.
20/01/2018 08:29:59 
20/01/2018 08:29:59 Scroll Detection: -scrollcopyrect mode is in effect to
20/01/2018 08:29:59   use RECORD extension to try to detect scrolling windows
20/01/2018 08:29:59   (induced by either user keystroke or mouse input).
20/01/2018 08:29:59   If this yields undesired behavior (poor response, painting
20/01/2018 08:29:59   errors, etc) it may be disabled via: '-noscr'
20/01/2018 08:29:59   Also see the -help entry for tuning parameters.
20/01/2018 08:29:59   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:29:59   repaint the screen, also see the -fixscreen option for
20/01/2018 08:29:59   periodic repaints.
20/01/2018 08:29:59 X FBPM extension not supported.
20/01/2018 08:29:59 X display is capable of DPMS.
20/01/2018 08:29:59 --------------------------------------------------------
20/01/2018 08:29:59 
20/01/2018 08:29:59 Default visual ID: 0x21
20/01/2018 08:29:59 Read initial data from X display into framebuffer.
20/01/2018 08:29:59 initialize_screen: fb_depth/fb_bpp/fb_Bpl 16/16/1600
20/01/2018 08:29:59 
20/01/2018 08:29:59 X display :0 is 16bpp depth=16 true color
20/01/2018 08:29:59 
20/01/2018 08:29:59 Listening for VNC connections on TCP port 5900
20/01/2018 08:29:59 Listening for VNC connections on TCP6 port 5900
20/01/2018 08:29:59 listen6: bind: Address already in use
20/01/2018 08:29:59 Not listening on IPv6 interface.
20/01/2018 08:29:59 
20/01/2018 08:29:59 Xinerama is present and active (e.g. multi-head).
20/01/2018 08:29:59 Xinerama: number of sub-screens: 1
20/01/2018 08:29:59 Xinerama: no blackouts needed (only one sub-screen)
20/01/2018 08:29:59 
20/01/2018 08:29:59 fb read rate: 51 MB/sec
20/01/2018 08:29:59 The X server says there are 10 mouse buttons.
20/01/2018 08:29:59 screen setup finished.
20/01/2018 08:29:59 

The VNC desktop is:      ur-2014730315:0

******************************************************************************
Have you tried the x11vnc '-ncache' VNC client-side pixel caching feature yet?

The scheme stores pixel data offscreen on the VNC viewer side for faster
retrieval.  It should work with any VNC viewer.  Try it by running:

    x11vnc -ncache 10 ...

One can also add -ncache_cr for smooth 'copyrect' window motion.
More info: http://www.karlrunge.com/x11vnc/faq.html#faq-client-caching


thewave

if you put the export DISPLAY above the x11vnc command, does it works?
Its working now. It was my -nofixes option typo in the xsessions file.

jlespinosa

Ohh  . same thing  ,

Markus

yuvarajoo said:
Hi,
I have packaged an urmagic file for easy installation. Just extract to usb to install the magic file. This is modified from another person.
Do you know something about the warranty of Universal Robots when "third party" software is gonna be installed?
Best regards.

PierreOlivier_Proulx
PierreOlivier_Proulx

I linked it. The attachment did not work.

Jstewart

What do i do after install?

PierreOlivier_Proulx

right

adhecht24


Hi,

does anyone already have a solution for the e-series?
Access via VNC is currently not possible.