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1 | initial version |
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/
2 | No.2 Revision |
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.
3 | No.3 Revision |
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.
4 | No.4 Revision |
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.
5 | No.5 Revision |
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++.
6 | No.6 Revision |
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++.
7 | No.7 Revision |
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.