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I think the answer to this type of thing is a client-server connection. Meaning you need a URScript running on the robot pendant and another program (ROS C++ or some other type) on your PC. I know, it's not convenient. See http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

I think the answer to this type of thing is a client-server connection. Meaning you need a URScript running on the robot pendant and another program (ROS C++ or some other type) on your PC. I know, it's not convenient. See http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

You could probably modify ur_modern_driver's client script, which already runs on the robot. I'm not sure where or how, yet.

If you need feedback, I think the answer to this type of thing is a client-server connection. Meaning you need a URScript running on the robot pendant and another program (ROS C++ or some other type) on your PC. I know, it's not convenient. See http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

You could probably modify ur_modern_driver's client script, which already runs on the robot. I'm not sure where or how, yet.

If you need feedback, I think the answer is a client-server connection. Meaning you need a URScript running on the robot pendant and another program (ROS C++ or some other type) on your PC. I know, it's not convenient. See http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

You could probably modify ur_modern_driver's client script, which already runs on the robot. I'm not sure where or how, yet.

ur_modern_driver doesn't make joint torques available, but lots of other data is published in src/ur_ros_wrapper.cpp.

If you need feedback, I think the answer is a client-server connection. Meaning you need a URScript running on the robot pendant and another program (ROS C++ or some other type) on your PC. I know, it's not convenient. See http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

You could probably modify ur_modern_driver's What you suggested about modifying the client script, which already runs on the robot. I'm not sure where or how, yet.script (driver.py) seems like a good idea.

ur_modern_driver doesn't make joint torques available, but lots of other data is published in src/ur_ros_wrapper.cpp.

This question has an example of calling a URScript function from C++.

If you need feedback, I think the answer is a client-server connection. Meaning you need a URScript running on the robot pendant and another program (ROS C++ or some other type) on your PC. I know, it's not convenient. See http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

What you suggested about modifying the client script (driver.py) (driver.py) seems like a good idea.

ur_modern_driver (which depends on driver.py) doesn't make joint torques available, but lots of other data is published in src/ur_ros_wrapper.cpp.src/ur_ros_wrapper.cpp.

This question has an example of calling a URScript function from C++.

If you need feedback, I think the answer is a client-server connection. Meaning you need a URScript running on the robot pendant and another program (ROS C++ or some other type) on your PC. I know, it's not convenient. See http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

What you suggested about modifying the client script (driver.py) seems like a good idea.

ur_modern_driver (which depends on driver.py) doesn't make joint torques available, but lots of other data is published in src/ur_ros_wrapper.cpp.

This question has an example of calling a URScript function from C++.C++ and here's a Python example.