This repository provides instructions for installing URSim 5.22.2 (UR-Series & e-Series) on Ubuntu 22.04 without using Docker. If you prefer to run URSim inside a Docker container, please refer to the official image and instructions here: UR Sim Docker Image.
This repository describes two methods for installing URSim:
1. Using an installation shell script
2. Manual installation
You can clone the repository, make the script executable, and run it to install URSim automatically. Use the following command:
git clone https://github.com/SAJIB3489/URSim-ubuntu-22.04.git
cd URSim-ubuntu-22.04Vist the URSim 5.22.2 download page, copy the download link, and paste it into the ursim-intsall-22.04.sh file and save it. Refer to the image below for guidance.
Note
You may need to log in or create an account before accessing the download.
Now execute the installation script.
chmod +x ursim-intsall-22.04.sh
./ursim-intsall-22.04.shEnable Modbus server in URSim
As per default, the Modbus server is activated. In case it is not then open the file starturcontrol.sh which is located in the installation folder using a file editor. Open /ursim-5.22.2.1214876/starturcontrol.sh
Replace:
HOME=$SCRIPT_DIR $SCRIPT_DIR/URControl -m $PRODUCT_VERSION -r &>$SCRIPT_DIR/URControl.log &With:
echo mypasswd | sudo -S HOME=$SCRIPT_DIR $SCRIPT_DIR/URControl -m $PRODUCT_VERSION -r &>$SCRIPT_DIR/URControl.log &Here, replace mypasswd with your login password for Linux.
Before installing URSim 5.22.2, ensure the following dependencies are installed. This will help avoid errors during the installation process on Ubuntu 22.04.
Copy and run the following command in your terminal:
sudo apt-get update -y
sudo apt-get install -y openjdk-8-jdk
sudo apt-get install -y maven
sudo apt-get install -y runit
sudo apt-get update -y
sudo apt-get install -y libcurl41. Download the software
You can download URSim 5.22.2 (Offline PolyScope simulator) from the official Universal Robots website: URSim 5.22.2
Note
You may need to log in or create an account before accessing the download.
2. Extract the software
You need to extract the software. Navigate to the download directory and run the following command.
tar xvzf URSim_Linux-5.22.2.1214876.tar.gz
rm URSim_Linux-5.22.2.1214876.tar.gz
cd ursim-5.22.2.1214876/3. Modify intsall.sh
Open install.sh and make the following changes:
Change 1
Replace:
commonDependencies='libcurl3 libjava3d-* ttf-dejavu* fonts-ipafont fonts-baekmuk fonts-nanum fonts-arphic-uming fonts-arphic-ukai'With:
commonDependencies='libcurl4 libjava3d-* ttf-dejavu* fonts-ipafont fonts-baekmuk fonts-nanum fonts-arphic-uming fonts-arphic-ukai'Change 2
Replace:
sudo bash -c "apt-get -y install lib32gcc1 lib32stdc++6 libc6-i386 $commonDependencies && (echo '$packages' | xargs dpkg -i --force-overwrite)"With:
sudo bash -c "apt-get -y install lib32gcc-s1-amd64-cross lib32stdc++6 libc6-i386 $commonDependencies && (echo '$packages' | xargs dpkg -i --force-overwrite)"4. Fix Dependency Package
You need to fix the dependency packages.
cd ursim-dependencies/
ar x libxmlrpc-c-ur_1.33.14_amd64.deb
mkdir extras-control
tar -C extras-control -zxf control.tar.gz
cd extras-control/5. Modify the control file
Edit the control file in extras-control/ and change:
Depends: lib32gcc1 (>= 1:4.1.1), lib32stdc++6 (>= 4.1.1), libc6-i386 (>= 2.3.4)To:
Depends: lib32gcc-s1-amd64-cross, lib32stdc++6 (>= 4.1.1), libc6-i386 (>= 2.3.4)6. Repack and Rebuild .deb
You need to repack the control.tar.gz file and rebuild.
tar cfz control.tar.gz *
mv control.tar.gz ..
cd ..
ar r new_urtool3_amd64.deb debian-binary control.tar.gz data.tar.gz
rm libxmlrpc-c-ur_1.33.14_amd64.deb
cd ..7. Set Java Environment
If multiple Java versions are installed, set Java 8:
export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
export PATH=$JAVA_HOME/bin:$PATHTo persist the environment settings, add to ~/.bashrc:
echo '#Java 8 for URSim' >> ~/.bashrc
echo 'export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64' >> ~/.bashrc
echo 'export PATH=$JAVA_HOME/bin:$PATH' >> ~/.bashrcVerify:
java -version8. Run the Installer
All set, now you can run install.sh script.
./install.shCopy the URSim binaries to /usr/bin:
sudo cp -rv /home/$USER/ursim-5.22.2.1214876/usr/bin/* /usr/bin/9. Enable Modbus server in URSim
As per default, the Modbus server is activated. In case it is not then open the file starturcontrol.sh which is located in the installation folder using a file editor. Open /ursim-5.22.2.1214876/starturcontrol.sh
Replace:
HOME=$SCRIPT_DIR $SCRIPT_DIR/URControl -m $PRODUCT_VERSION -r &>$SCRIPT_DIR/URControl.log &With:
echo mypasswd | sudo -S HOME=$SCRIPT_DIR $SCRIPT_DIR/URControl -m $PRODUCT_VERSION -r &>$SCRIPT_DIR/URControl.log &Here, replace mypasswd with your login password for Linux.
🟩 URSIM installation completed.
To launch URSim:
./start-ursim.shOr click on the desktop icon.
You can configure the Network Settings if you need to.
- Once the installation is complete, if the desktop application icons are not launchable, right-click on the app icon and select
Allow Launchingto enable them.
- If the Controller is OK but you can not click on 🟢ON button in URSim or terminal log shows Controller monitoring timed out while waiting for real time robot data, Controller monitoring timed out too many times. Restarting connection, then stop the urcontrol using
sudo ./stopurcontrol.sh. After that launch the Software or ./start-ursim.sh.
Run the following command to fully remove URSim.
sudo rm -r URSim-ubuntu-22.04/
sudo rm -r /usr/bin/ur*
sudo rm -r /$HOME/Desktop/*
sudo rm -r /usr/local/ur*Found a bug or something not working as expected? Please let us know by opening a new issue in the Issues section on GitHub. We're here to help!
Have a solution or improvement? Feel free to contribute by opening a Pull Request with your fix or enhancement. Your contributions are always welcome and appreciated!