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AmberInside / Amber_AI_ROS2

AMBER B1 Modular, Lightweight Robotic Arm project
BSD 3-Clause "New" or "Revised" License
13 stars 3 forks source link

AMBER B1 SDK & APIs. UDP communication Protocol. #13

Open bitengines opened 2 years ago

bitengines commented 2 years ago

Hello, For the UDP communicaction protocoll, the folowing information is mising: 1.- Server/destination IP address 2.- UDP port number

it would be also good to know if several commands can be packed and sent together

best regards

AmberInside commented 2 years ago

1.- Server/destination IP address If you don't connected to a router, the ip is 127.0.0.1. Check the IP information on AMBER Robotic Studio information page if connected to a router.

2.- UDP port number By default, the port is 8080, as shown in Information page.

bitengines commented 2 years ago

Hello

I have been reviewing the description the communication Protocol for AMBER B1 and found some information that is missing or incorrect. Following i list them in case you want to correct them.

1.- UDP port; 25001 2.- Distance units: meters 3.- In all command the "Joint ID value" is 0 4.- In "Get Joint Status" the length field of the response is wrong, it is not 120 but 124 bytes
5.- In "Single Joint Move Once" the type of target position values, eight Joint angles and the time values are all float (32bits), 9 floats in total. 6.- In "Multi Move" same as with "Single Joint Move Once" the type of values is float (32bits) 7.- In "Cartesian Control" the length field of the command is wrong, it is not 36 but 40 bytes. Type of the parameter are float and the number of parameters is wrong, it is missing the "Angle" in betweeen "R-P-Y" and "Time to target". 8.- In the "Gripper Control" description there is a mistake in the following texts "2~3 Bytes: Command Length（uint16_t）， 8". Las number corresponding to the values of the field is wrong, it is not 8 but 13.

Best regards

bitengines commented 2 years ago

Hello,

I am testing "Cartesian Control" messages and found that i am receiving and undefined error number = 3. I think it appeared after causing and IK error. Could you, please, explain what this code means?. Is it possible to recover from this situation sending any command to the robot?

Best regards