integration:rtde
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
integration:rtde [2023/07/18 11:28] – [RTDE measurement system integration] oliver | integration:rtde [2023/07/18 22:30] (aktuell) – [RPS measurement system integration] oliver | ||
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Zeile 49: | 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/ | ||
Zeile 64: | Zeile 65: | ||
^ target | target_TCP_pose | Target Cartesian coordinates of the tool | (x, | ^ target | target_TCP_pose | Target Cartesian coordinates of the tool | (x, | ||
- | =====RPS measurement system integration===== | + | =====RTDE measurement system integration===== |
- | ^ rps_websocket_ip | + | ^ rtde_socket_ip |
- | ^ rps_websocket_port | + | ^ rtde_socket_port |
integration/rtde.txt · Zuletzt geändert: 2023/07/18 22:30 von oliver