integration:rtde
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
integration:rtde [2023/07/17 16:49] – [RTDE measurement system integration] oliver | integration:rtde [2023/07/18 22:27] – [Available units and channels] oliver | ||
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Zeile 23: | Zeile 23: | ||
<Channel name=" | <Channel name=" | ||
<Channel name=" | <Channel name=" | ||
- | <Channel name="URAngleVelocity0"/> | + | <Channel name="URAngularVelocity0"/> |
- | <Channel name="URAngleVelocity1"/> | + | <Channel name="URAngularVelocity1"/> |
- | <Channel name="URAngleVelocity2"/> | + | <Channel name="URAngularVelocity2"/> |
- | <Channel name="URAngleVelocity3"/> | + | <Channel name="URAngularVelocity3"/> |
- | <Channel name="URAngleVelocity4"/> | + | <Channel name="URAngularVelocity4"/> |
- | <Channel name="URAngleVelocity5"/> | + | <Channel name="URAngularVelocity5"/> |
| | ||
- | <Channel name="q0"/> | + | <Channel name="rx"/> |
- | <Channel name="q1"/> | + | <Channel name="ry"/> |
- | <Channel name="q2"/> | + | <Channel name="ry"/> |
- | <Channel name=" | + | |
- | <Channel name=" | + | |
- | <Channel name=" | + | |
- | <Channel name=" | + | |
</ | </ | ||
| | ||
Zeile 53: | Zeile 49: | ||
====Available units and channels ==== | ====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/ | + | ^ actual | actual_q | Actual joint positions/ |
- | ^ actual | actual_qd | Actual joint velocities/ | + | ^ actual | actual_qd | Actual joint velocities/ |
- | ^ actual | actual_current | Actual joint currents for 6 joints. | Current< | + | ^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent< |
- | ^ actual | Temperatures in 6 joints | + | ^ actual | actual_TCP_pose | Actual Cartesian coordinates |
- | ^ actual | Actual | + | ^ actual |
- | ^ actual | Actual TCP orientation | + | ^ actual | joint_temperatures |
- | ^ actual | Time elapsed since the controller was started | T | s | REAL | | + | ^ actual |
^ target | target_q | Target joint positions/ | ^ target | target_q | Target joint positions/ | ||
^ target | target_qd | Target joint velocities/ | ^ target | target_qd | Target joint velocities/ |
integration/rtde.txt · Zuletzt geändert: 2023/07/18 22:30 von oliver