=====RTDE measurement system integration=====
[[https://www.universal-robots.com/articles/ur/real-time-data-exchange-rtde-guide|RTDE]] is a realtime communication stack to communicate with robots from Universal Robots, witch have controller hardware equal or newer than CB3 and works best with the e-series.

It is based on [[https://github.com/MobMonRob/JRTDE2|JRTDE2]], a java library wrapper for the  [[https://gitlab.com/sdurobotics/ur_rtde|RTDE client library]]. Connections to one or more robot systems are possible. 

The value of the attribute "system" from the element <MeasurementSystem> has to be set to "RTDE2".

**Example configuration fragment:**

<code xml>
<?xml version="1.0" encoding="UTF-8"?>

<MeasurementProcess name="Test RTDE measurement system integration">

 <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="URAngle0"/>
                <Channel name="URAngle1"/>
                <Channel name="URAngle2"/>
                <Channel name="URAngle3"/>
                <Channel name="URAngle4"/>
                <Channel name="URAngle5"/>
                <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>
        
        ...
        
 </MeasurementSystem>   
 ...
</MeasurementProcess>
</code>

**The <MeasurementSystem>-element has the following additional properties:**

^ Property name 	^ Description ^ Optional |
^ 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/angles for 6 segments. | URAngle<index>, -1 < index < 6  | ANGLE | rad | 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. | URCurrent<index>, -1 < index < 6  | CURRENT | A | REAL[6] |
^ 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_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 | joint_temperatures | Temperatures in 6 joints of an UR-robot. | URt<index>, -1 < index < 6  | TEMPERATURE | °C | REAL[6] |
^ 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] |
^ target | target_qdd | Target joint accelerations/angularaccelerations for 6 joints. | AngularAcceleration<index>, -1 < index < 6 | rad/square(s) | REAL[6] |
^ target | target_current | Target joint currents for 6 joints. | Current<index>, -1 < index < 6  | A | REAL[6] |
^ target | target_moment | Target joint moments for 6 joints. | Moment<index>, -1 < index < 6  | Nm | REAL[6] |
^ 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] |

=====RTDE measurement system integration=====

^ rtde_socket_ip | IP adress to connect to the rps web socket. | No |
^ rtde_socket_port | Port number to connect to the rps web socket. | No|