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Universal Robot: can I access the joint currents in ROS?

asked 2017-09-29 09:33:18 -0500

I am successfully able to command my UR10 from a ROS node. I'm using Ubuntu 16.04, ROS Kinetic, the ROS universal robot package, and the ROS ur_modern_driver package (plus a minor code fix that I found on the Internet to make it compile under Ubuntu 16.04).

When I use the pendant to control the arm, I occasionally look at the joint current amperage values on the log tab in order to make decisions. Mostly when picking up payloads or dropping them off. Is there a way to access the real-time joint currents from ROS? Or am I just trying to do it all wrong?

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answered 2017-09-30 05:32:09 -0500

gvdhoorn gravatar image

The i_actual field from the 'real-time interface' datastream is currently being used to populate the effort field of the JointState msg published on the /joint_state topic (see RosWrapper::publishRTMsg() - line 676).

See document 16496 on the UR support site for more information about what i_actual actually represents.

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Wow. Thanks! I noticed this effort field when I first installed the UR drivers, but I didn't understand what it was for.

Kurt Leucht gravatar image Kurt Leucht  ( 2017-10-02 10:16:39 -0500 )edit

Note that I'm not entirely convinced that using i_actual like that for effort is correct. But that is orthogonal to your question.

gvdhoorn gravatar image gvdhoorn  ( 2017-10-02 10:23:34 -0500 )edit

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Asked: 2017-09-29 09:33:18 -0500

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Last updated: Sep 30 '17