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 15:51] – [Available units and channels] oliver | integration:rtde [2023/07/18 22:30] (aktuell) – [RPS measurement system integration] oliver | ||
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Zeile 54: | Zeile 54: | ||
^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent< | ^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent< | ||
^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v< | ^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v< | ||
- | ^ actual | actual_TCP_pose | Actual orientation | + | ^ 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< |
- | ^ actual | joint_temperatures | Temperatures in 6 joints of an UR-robot. | URt< | + | ^ actual | joint_temperatures | Temperatures in 6 joints of an UR-robot. | URt< |
+ | ^ actual | timesamp | Time elapsed since the controller was started. | T | TIMESTAMP | s | REAL | | ||
- | ^ actual | Time elapsed since the controller was started | T | s | REAL | | ||
^ 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 65: | 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