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UniversalRobots / Universal_Robots_ROS_Driver

Universal Robots ROS driver supporting CB3 and e-Series
Apache License 2.0
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how to get the UR5's tcp velocity? #716

Open zp2546265641 opened 1 month ago

zp2546265641 commented 1 month ago

Affected ROS Driver version(s)

master

Used ROS distribution.

Noetic

Which combination of platform is the ROS driver running on.

Linux

How is the UR ROS Driver installed.

Build the driver from source and using the UR Client Library from binary

Which robot platform is the driver connected to.

UR CB3 robot

Robot SW / URSim version(s)

3.15.7

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Thank you very much for the help of the community. I would like to know if there is any way to obtain the moving speed of the end of the UR robot. I currently use urcap to control the robot arm and use moveit to plan the movement of the robot arm.

Relevant log output

No response

Accept Public visibility

fmauch commented 1 month ago

At the moment this is not supported. This could be implemented as suggested in #35, however.