- Download vncviewer from the official site.
- Install Docker Engine and Docker Compose.
Driver and URsim can be run together by following command which will build necessary docker images and start the containers.
With appropriate arguments set the ROS2 distro and the Moveit2! build is required.
Run following command in ur_robot_driver/resources/ursim_driver folder of this package.
ROS2_DISTRO=foxy BUILD_MOVEIT2=0 docker-compose up --build
Start vncviewer by typing vncviewer in the terminal. When the containers are up and running, you should be
able to see active connections. Use 0.0.0.0:5900 for ursim and 0.0.0.0:5566 for driver connection.
Open the URsim vnc connection to see the simulator window.\