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integration:rtde [2020/12/09 09:24] – [Available units] oliverintegration:rtde [2023/07/18 22:30] (aktuell) – [RPS measurement system integration] oliver
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 [[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. [[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/JRTDE|JRTDE]], a java library wrapper for the  [[https://gitlab.com/sdurobotics/ur_rtde|RTDE client library]]. Connections to one or more robot systems are possible. +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 "RTDE".+The value of the attribute "system" from the element <MeasurementSystem> has to be set to "RTDE2".
  
 **Example configuration fragment:** **Example configuration fragment:**
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 <MeasurementProcess name="Test RTDE measurement system integration"> <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="sampleRate" value="120.0"/>
         <Property name="dnsidentifiablename" value="192.168.12.1"/>         <Property name="dnsidentifiablename" value="192.168.12.1"/>
         <TransducerUnit name="actual" displayName="Actual">         <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>         </TransducerUnit>
                  
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 ====Available units and channels ==== ====Available units and channels ====
    
-^ Unit name^ Description ^ Channel name ^ Unit ^ Type ^ +^ Unit name^ UR Tag ^Description ^ Channel name ^ Channel type ^ Unit ^ Type ^ 
-^ actual | Actual joint angles for 6 segments of an UR-robot. | URAngle<index>, <index < 6  | rad | REAL | +^ actual | actual_q | Actual joint positions/angles for 6 segments. | URAngle<index>, -1 < index < 6  | ANGLE | rad | REAL[6] 
-target Target joint angles for 6 segments of an UR-robot. | URAngle<index>, <index < 6| rad| REAL | +actual actual_qd | Actual joint velocities/anglevelocities for 6 joints. | URAngularVelocity<index>, -1 < index < 6  | VELOCITY | rad/s | REAL[6] 
-^ actual | Temperatures in 6 joints of an UR-robot. | URt<index>, <index < 6  | °C | REAL | +^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent<index>, -1 < index < 6  | CURRENT | A | REAL[6] 
-^ actual | Actual TCP position | v<index>0<index<2 | mm | REAL | +^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v<index>, -1 < index < 3 | POSITION | mm | COLUMN_VECTOR_3D 
-^ target | Target TCP position | v<index>, 0<index<| mm | REAL +^ 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>, 0<=index<4 | REAL +actual joint_temperatures Temperatures in 6 joints of an UR-robot. | URt<index>, -1 < index < 6  TEMPERATURE | °C | REAL[6] 
-target Target TCP orientation q<index>, 0<=index<4| REAL | +^ actual | timesamp | Time elapsed since the controller was started. | T | TIMESTAMP | s | REAL |
-^ actual | Timestamp | T | ms | 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|
integration/rtde.1607502276.txt.gz · Zuletzt geändert: 2020/12/09 09:24 von oliver

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