Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- integration:rtde [2023/07/17 16:30] – [Available units and channels] oliver
+++ integration:rtde [2023/07/18 22:30] (aktuell) – [RPS measurement system integration] oliver
@@ Zeile 13: / Zeile 13: @@
 <MeasurementProcess name="Test RTDE measurement system integration">
- <MeasurementSystem id="default" system="RTDE" fileSuffix="rtde">
+ <MeasurementSystem id="default" system="RTDE2" fileSuffix="rtde">
         <Property name="sampleRate" value="120.0"/>
         <Property name="dnsidentifiablename" value="192.168.12.1"/>
         <TransducerUnit name="actual" displayName="Actual">
-                <Channel name="q0"/>
+                <Channel name="URAngle0"/>
-                <Channel name="q1"/>
+                <Channel name="URAngle1"/>
-                <Channel name="q2"/>
+                <Channel name="URAngle2"/>
-                <Channel name="q3"/>
+                <Channel name="URAngle3"/>
-                <Channel name="v0"/>
+                <Channel name="URAngle4"/>
-                <Channel name="v1"/>
+                <Channel name="URAngle5"/>
-                <Channel name="v2"/>
+                <Channel name="URAngularVelocity0"/>
+                <Channel name="URAngularVelocity1"/>
+                <Channel name="URAngularVelocity2"/>
+                <Channel name="URAngularVelocity3"/>
+                <Channel name="URAngularVelocity4"/>
+                <Channel name="URAngularVelocity5"/>
+                <Channel name="rx"/>
+                <Channel name="ry"/>
+                <Channel name="ry"/>
         </TransducerUnit>
@@ Zeile 40: / Zeile 49: @@
 ====Available units and channels ====
-^ Unit name^ UR Tag ^Description ^ Channel name ^ Unit ^ Type ^
+^ Unit name^ UR Tag ^Description ^ Channel name ^ Channel type ^ Unit ^ Type ^
-^ actual | actual_q | Actual joint positions/angles for 6 segments. | Angle<index>, -1 < index < 6  | rad | REAL[6] |
+^ actual | actual_q | Actual joint positions/angles for 6 segments. | URAngle<index>, -1 < index < 6  | ANGLE | rad | REAL[6] |
-^ actual | actual_qd | Actual joint velocities/anglevelocities for 6 joints. | AngularVelocity<index>, -1 < index < 6  | rad/s | REAL[6] |
+^ actual | actual_qd | Actual joint velocities/anglevelocities for 6 joints. | URAngularVelocity<index>, -1 < index < 6  | VELOCITY | rad/s | REAL[6] |
-^ actual | actual_current | Actual joint currents for 6 joints. | Current<index>, -1 < index < 6  | Nm | REAL[6] |
+^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent<index>, -1 < index < 6  | CURRENT | A | REAL[6] |
-^ actual | Temperatures in 6 joints of an UR-robot. | URt<index>, -1 < index < 6  | °C | REAL |
+^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v<index>, -1 < index < 3 | POSITION | mm | COLUMN_VECTOR_3D |
-^ actual | Actual TCP position | v<index>, -1 < index < 3 | mm | COLUMN_VECTOR_3D |
+^ 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<index>, -1 < index < 4 | ROTATION_VECTOR | rad | COLUMN_VECTOR_3D |
-^ actual | Actual TCP orientation | q<index>, -1 < index < 4 | - | QUATERNION_D |
+^ actual | joint_temperatures | Temperatures in 6 joints of an UR-robot. | URt<index>, -1 < index < 6  | TEMPERATURE | °C | REAL[6] |
-^ actual | Time elapsed since the controller was started | T | s | REAL |
+^ actual | timesamp | Time elapsed since the controller was started. | T | TIMESTAMP | s | REAL |
 ^ target | target_q | Target joint positions/angles for 6 joints. | Angle<index>, -1 < index < 6| rad | REAL[6] |
 ^ target | target_qd | Target joint velocities/angularvelocities for 6 joints. | AngularVelocity<index>, -1 < index < 6  | rad/s | REAL[6] |
@@ Zeile 55: / Zeile 65: @@
 ^ target | target_TCP_pose | Target Cartesian coordinates of the tool | (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | mm | REAL[6] |
-=====RPS measurement system integration=====
+=====RTDE measurement system integration=====
-^ rps_websocket_ip | IP adress to connect to the rps web socket. | No |
+^ rtde_socket_ip | IP adress to connect to the rps web socket. | No |
-^ rps_websocket_port | Port number to connect to the rps web socket. | No|
+^ rtde_socket_port | Port number to connect to the rps web socket. | No|