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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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Save trajectory local on the controller #295

Closed TSsimon closed 5 years ago

TSsimon commented 5 years ago

Hello! I'm about to use the ur_modern_driver to send scheduled trajectory paths to the controller. My question is, is it possible to save the URscript commands locally in the / Programs directory so that I can see it using the Teachpendant?

gavanderhoorn commented 5 years ago

No, that's not supported.

It's also not how the driver works: trajectories are streamed to the controller. Not generated and then uploaded.

gavanderhoorn commented 5 years ago

I'm closing this as it's not an actionable issue.

Feel free to keep commenting here of course.

TSsimon commented 5 years ago

then I misunderstood it. I thought that after the socket connection my trajectories would be sent to the ur and executed locally by a pseudo UR script. After execution the thread would be closed

that would mean I steer the servomotors of the ur directly?

gavanderhoorn commented 5 years ago

I thought that after the socket connection my trajectories would be sent to the ur and executed locally by a pseudo UR script.

I'm not sure what a "pseudo UR script" is, but there is a small UR script started on the controller and that script accepts position (or velocity) setpoints which it then uses to call appropriate servoj(..) or speedj(..) commands with.

After execution the thread would be closed

yes, that does happen. See here for the program that is uploaded.

that would mean I steer the servomotors of the ur directly?

well .. "directly" is a relative term. It's probably as direct as the controller allows/supports.