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integration:rtde

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Vicon 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.

It is based on JDataAquisition, a java library wrapper for the RTDE client library DataStream SDK. Connections to one or more robot systems are possible.

The value of the attribute „system“ from the element <MeasurementSystem> hast to be set to „RTDE“.

Example configuration fragment:

<?xml version="1.0" encoding="UTF-8"?>
 
<MeasurementProcess name="Test RTDE measurement system integration">
 
 <MeasurementSystem id="default" system="RTDE" fileSuffix="rtde">
        <Property name="sampleRate" value="120.0"/>
        <Property name="dnsidentifiablename" value="192.168.12.1"/>
        <!--Property name="timeout" value="10000"/-->
 
        <TransducerUnitGroup name="TCP" displayName="TCP">   
            <TransducerUnit name="TCP" displayName="TCP">
                <Channel name="q0"/>
                <Channel name="q1"/>
                <Channel name="q2"/>
                <Channel name="q3"/>
                <Channel name="v0"/>
                <Channel name="v1"/>
                <Channel name="v2"/>
            </TransducerUnit>
        </TransducerUnitGroup>
        ...
        <TransducerUnitGroup name="markers" displayName="Markers">   
 
            <TransducerUnit name="GLOBE1" displayName="GLOBE1">
                <Channel name="v0"/>
                <Channel name="v1"/>
                <Channel name="v2"/>
                <Channel name="T"/>
            </TransducerUnit>
            ...
        </TransducerUnitGroup>
 </MeasurementSystem>   
 ...
</MeasurementProcess>

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

Property name Description Optional
dnsidentifiablename A name possibly resolveable by the DNS No
integration/rtde.1607069316.txt.gz · Zuletzt geändert: 2020/12/04 09:08 von oliver

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