integration:rtde
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
integration:rtde [2020/12/04 09:08] – oliver | integration:rtde [2023/07/18 22:27] – [Available units and channels] oliver | ||
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- | =====Vicon measurement system integration===== | + | =====RTDE measurement system integration===== |
- | RTDE is a realtime communication stack for robots from UR with have controller hardware CB3 an works best with the e-series. | + | [[https:// |
- | It is based on [[https:// | + | It is based on [[https:// |
- | The value of the attribute " | + | The value of the attribute " |
**Example configuration fragment:** | **Example configuration fragment:** | ||
Zeile 13: | Zeile 13: | ||
< | < | ||
- | < | + | < |
< | < | ||
< | < | ||
- | <!--Property | + | <TransducerUnit |
- | + | <Channel name=" | |
- | <TransducerUnitGroup | + | < |
- | <TransducerUnit | + | <Channel |
- | <Channel name="q0"/> | + | <Channel name="URAngle3"/> |
- | <Channel name="q1"/> | + | <Channel |
- | <Channel name="q2"/> | + | <Channel name="URAngle5"/> |
- | <Channel name="q3"/> | + | <Channel name="URAngularVelocity0"/> |
- | <Channel name="v0"/> | + | <Channel name="URAngularVelocity1"/> |
- | <Channel name="v1"/> | + | <Channel name="URAngularVelocity2"/> |
- | <Channel name="v2"/> | + | <Channel name="URAngularVelocity3"/> |
- | </TransducerUnit> | + | <Channel name="URAngularVelocity4"/> |
- | </TransducerUnitGroup> | + | <Channel name="URAngularVelocity5"/> |
+ | | ||
+ | <Channel name="rx"/> | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | </TransducerUnit> | ||
+ | | ||
... | ... | ||
- | | + | |
- | + | ||
- | < | + | |
- | <Channel name=" | + | |
- | <Channel name=" | + | |
- | <Channel name=" | + | |
- | <Channel name=" | + | |
- | </ | + | |
- | ... | + | |
- | </ | + | |
</ | </ | ||
... | ... | ||
Zeile 49: | Zeile 46: | ||
^ Property name ^ Description ^ Optional | | ^ Property name ^ Description ^ Optional | | ||
^ dnsidentifiablename| A name possibly resolveable by the DNS | No | | ^ dnsidentifiablename| A name possibly resolveable by the DNS | No | | ||
+ | |||
+ | ====Available units and channels ==== | ||
+ | |||
+ | ^ Unit name^ UR Tag ^Description ^ Channel name ^ Channel type ^ Unit ^ Type ^ | ||
+ | ^ actual | actual_q | Actual joint positions/ | ||
+ | ^ actual | actual_qd | Actual joint velocities/ | ||
+ | ^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent< | ||
+ | ^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v< | ||
+ | ^ actual | actual_TCP_pose | Actual orientation of the tool: (rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | r< | ||
+ | ^ actual | joint_temperatures | Temperatures in 6 joints of an UR-robot. | URt< | ||
+ | ^ actual | timesamp | Time elapsed since the controller was started. | T | TIMESTAMP | s | REAL | | ||
+ | |||
+ | ^ target | target_q | Target joint positions/ | ||
+ | ^ target | target_qd | Target joint velocities/ | ||
+ | ^ target | target_qdd | Target joint accelerations/ | ||
+ | ^ target | target_current | Target joint currents for 6 joints. | Current< | ||
+ | ^ target | target_moment | Target joint moments for 6 joints. | Moment< | ||
+ | ^ target | target_TCP_pose | Target Cartesian coordinates of the tool | (x, | ||
+ | |||
+ | =====RPS measurement system integration===== | ||
+ | |||
+ | ^ rps_websocket_ip | IP adress to connect to the rps web socket. | No | | ||
+ | ^ rps_websocket_port | Port number to connect to the rps web socket. | No| |
integration/rtde.txt · Zuletzt geändert: 2023/07/18 22:30 von oliver