regarding: ur_modern_driver; Source of /tool_velocity, /joint_states ...

As I mentioned in the headline, i try to figure out, which kind of interface of the UR- Controller(primary/secondary) is used to publish these Information.

Asked by TSsimon on 2019-05-22 10:33:16 UTC

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Answers

The short answer: it's a mix. Whichever interface carries a particular piece of information is used.

This includes the secondary and 'real-time' (or 'matlab') interfaces.

RTDE and the primary interface are not used (the primary interface is used, but not for this kind of data).

Edit: more information can be found in the Remote Control Via TCP/IP - 16496 article on the Universal Robot support site and in the thesis that describes the Kinetic refactor (here).

Asked by gvdhoorn on 2019-05-22 10:57:14 UTC