Installing the software

Description

The compute module of the AI Accelerator comes with pre-installed OS. Additional software, specific to AI Accelerator installed as Docker container on top of the Compute module's host OS.
Installing the software

During installation and configuration the Compute module should remain connected to the internet. Installation and configuration of the software components of AI Accelerator should be performed in the following order:

  1. Start the Compute module

  2. UpdateAI Accelerator software

  3. Configure the installation parameters

  4. Uploads URCap files on to the robot

  5. Re-start the robot's interface

  6. Verify installation

Each step is described in more detail below.
To start the Compute module

  1. Compute module comes with pre-installed software.

    Login: lab

    Password: easybot

Remember to change the password at first boot. Leaving the password unchanged will expose the compute module to significant cybersecurity risks.
To get software update

  1. Universal Robotscontinuously working on improving AI Acceleratorsoftware. There might additional software functionality and bug fixes in updates posted to our web site.

    Open https://www.universal-robots.com/products/ur-developer-suite/ai-accelerator/ on Compute module.

    Locate the AI Accelerator and follow instructions on the page on how to update the software.

    The package contents will be installed in the /home/lab/
To configure installation parameters

  1. Locate and edit the configuration file ros/config/config.yaml inside the home folder.

    Following parameters are required:

    • Robot serial number (example UR20235000000)

    • Robot type and size (example ur5e)

      Both are found on a sticker at the base of the robot arm

    • Host IP (this is the IP of the Compute module)

    Robot's serial number is used by ROS components to uniquely identify the robot.
To configure the robot

  1. On the robot, in PolyScope X hamburger menu navigate to Settings and Security. Enable following access:

    • In Secure shell, Enable SSH Access

    • In Services, enable ROS2 ports

      SSH Access to the robot is only necessary while running the ./setupRobot.sh and could be disabled after script finishes.

  2. On the Compute module navigate to /home/lab/pandai_ark/scripts and run ./setupRobot.sh

    • Enter robot's IP

    • Specify robot ssh password

    This script copies URCaps to robot, copies sample scripts, configures ROS broadcasting and installs custom ROS messages.

  3. When the script finishes you must reboot the robot. Restarting the PolyScope X is not sufficient.
To verify installation

  1. On the compute module open Terminal and navigate to /home/lab/pandai_ark

    • Start the docker container by typing:

      source ros/scripts/run_dev.sh

      For off-line operation type:

      source ros/scripts/run_dev.sh -b

      This script finishes inside the Docker container, your default user is now admin

    • As admin run the script:

      ./scripts/run_ark.sh

      Running the script opens the ARK Console UI showing the camera view.

    • Check the camera connection to the Compute module if the live view does not appear.

      On the robot you can open the AI Accelerator Dashboard from Applications and verify that the camera view appears. Check that correct host IP is configured in the AI Accelerator Dashboard.
Troubleshooting

  1. On the Tech Pendant tap the hamburger menu and tap back to URCap window.
  2. Restart PolyScope X

  3. Check the following settings:

    • ROS hardware permissions

    • Correct robot serial number

    • Correct host IP

If no camera view appears in URCaps running on the robot, check that ./scripts/run_ark.sh is running on Compute module.