Hi, My question is not an issue but I have no idea where to put it... Now I am working on a UR5 for my compliant force (Impedance Control) experiment, and I decide to use universalrobot project (using urmoderndriver instead of urdriver). My first question is How can I record all the UR5 states( position, velocity, tool position, tool force...) into a txt or csv file at rate 125Hz? I noticed that in urmoderndriver the two topics has been subscribed, however, I did not receive the exact message, other saying , speedsub->data.c_str() is null.

speedsub = nh.subscribe("urdriver/jointspeed", 1, &RosWrapper::speedInterface, this); urscriptsub_ = nh.subscribe("urdriver/URScript", 1, &RosWrapper::urscriptInterface, this);

My secode question is Can someone please give me details on how to provide point by point Cartesian Trajectories to a UR5? So anyone can give me some help? If with an example how to use universal_robot on UR5, I will appreciate it well.

Thanks, Chunting