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Remote control of Universal Robots user interface |
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/ Most recent by David_Gouffe
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Daniel
Partner Posts: 15 Apprentice
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.
Thanking you in advance.
Warm Regards,
Lakshmi Prasanna.
To answer your other question, the basic device (ARCS) is like you said, for getting system status messages sent to a phone. The Remote Manager is an 'add-on' to this ARCS device....it's simply a software license to the hardware device. So, short answer is NO you don't 'get' the basic functions of the ARCS with the purchase of the RM software license, you need to add it to your existing ARCS hardware.
Clear as mud?
EDIT:
I just realized that the link in the above post to the UR website is the article I was featured in.
You can access the console with the method you described in the first post.
Once it is installed, you can use any vnc client to connect to your robot.
I strongly suggest that you copy your UR controller flash drive before doing this. And make sure the copy is valid before doing it.
Software Designer
[email protected]
Have you tried this yourself? Does it work good?
Do you have any tips on how to configure the VNC-server installation?
And do you know if this is the command to uninstall VNC?
$ apt-get remove x11vncI could find this guide for x11vnc.
https://help.ubuntu.com/community/VNC/Servers#x11vnc
Thank you for the tip.
To remove it is the good command. But I suggest that you use your backup instead in order to restore your system to the factory settings.
Software Designer
[email protected]
Now I'm trying to make x11vnc service start automatically on system boot. Do you know how to solve this @PierreOlivier_Proulx ?
Software Designer
[email protected]
I'm using UltraVNC Viewer to connect to the VNC server.
Hope this helps some of you!
I also had to edit "/etc/apt/sources.list" and un-comment the two lines so the following servers are active:
deb http://ftp.dk.debian.org/debian/ wheezy main contrib
deb-src http://ftp.dk.debian.org/debian/ wheezy main contrib
I can't edit my post anymore (they really should allow that!), but people will find out soon enough.
Hello together,
Thank you for the perfect explanation.
Can one of you explain what I do wrong with my UR5?
If I am on the Polyscope user interface, I enter [CTRL + Alt + F2] to get into the console.
Then I log in with root and easybot.
And if I then enter the command # apt-get install x11vnc ;it appears with me the message:
E: Could not find package x11vnc
So what am I doing wrong or are my steps the right one at all?
Thank you
-
Thank you for this solution, but i have a problem...
When try this command : /etc/apt/sources.list'
this message appears : -bash: /etc/apt/sources.list: Permission denied
This will open a text editor so will be able to uncomment the lines.
Software Designer
[email protected]
I've tried the above process (get update), the download site appears to be offline? 'failed to fetch http://packages.ur-update.dk/ubuntu/./Release.gpg'
I'd be happy to answer any questions you have about how it works.
Software Designer
[email protected]
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:
Also,
I am connect to the internet.
Here are my ping results:
</code><code>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.
Hi Brian,
Thank you for your post. I will look into your issue now that I got mine working!
How I solved the problem:
I am not sure of why I could not connect to the dk servers,
So I change to the US ones.
This change let me update and install.
I tried to change DNS server to google and public IP's however it still did not let me install, it kept giving the 403 error.
Software Designer
[email protected]
#!/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 $RUN_GUI fi loopval=$? done20/01/2018 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 </code>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 </pre><div><br></div>My vnc log if i start it from SSH<br><pre class="CodeBlock"><code>