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Measure forward- and feedback-delay

asked 2020-09-28 05:18:23 -0500

ikt_robin gravatar image

Dear all,

I want to measure the time it takes to send a message from my ROS-machine to my UR5e ("forward-delay").

I already know that ros messages have timestamps. I could not find a tool or function in ROS that has this type of function.

My problem is that i don't know how to get the Controller of the UR5e e.g., to record the time when a message arrived.

I'm not sure in how far it is possible and reasonable to install additions software directly onto the controller. Does anyone have experience with that?

Thank for your help!

PS: I'm using ROS Melodic on a Ubuntu 18 System. I work with an UR5e Robot. The goal to produce jitter and packetloss, and then to measure to impact onto to communication with the robot. Therefor i want to measure the forward- and feedback-delay (time from sensors to ros-machine).

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answered 2020-09-28 06:22:38 -0500

duck-development gravatar image

you may take a mirror port switch or a network probe to measure the timedilay between the controller input and ooutput.

if you have the right filter for wireshark it is quite easy.

if you need prezise 1ms resolution ich need an proke like the et200 or the profishark tab.

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Asked: 2020-09-28 05:18:23 -0500

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Last updated: Sep 28 '20