integration:rtde
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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.
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.1607069748.txt.gz · Zuletzt geändert: 2020/12/04 09:15 von oliver