question: set I/O's in test- node (c++ or python)

[TSsimon]

Hello, I have a question regarding the driver: I know the driver supports setting I/O's.
I would like to test the I / O's with a simple node, but unfortunately I do not know how to start to program. Does anyone have a test node in c++ or python to set the I / O's?

Thanks !

[gavanderhoorn]

There is a (very) old script in ur_driver (here) that you could perhaps use as an inspiration. Note that it uses a Python module of ur_driver, so it's not immediately usable with ur_modern_driver.

[gavanderhoorn]

As this is not an actionable issue with the package in this repository, I'm going to close it.

Please feel free to keep commenting on it of course.

[gonzalocasas]

@TSsimon it's easy to do this via the /URScript topic: just publish one message containing a string like "set_digital_out(8, True)" (obviously adjusting it to your needs) and that's all.

[gavanderhoorn]

and that's all.

unless you want to use services. In which case using the urscript topic is not going to work.

[gonzalocasas]

unless you want to use services

true. One option to build a blocking call (at application level) for setting IOs and waiting until completion is to subscribe to the /ur_driver/io_states topic right after publishing the urscript message, and there block until the io you just set turns to the state you expect.

[gonzalocasas]

but since this question starts to be quite long and is unactionable as mentioned by @gavanderhoorn , it might be best if you post it to ROS answers instead.

[gavanderhoorn]

@gonzalocasas: do you have any particular reason to not use the set_io service?

[gonzalocasas]

None except ignorance 😛 I had no idea the driver provides such a service, I didn't see it listed in the README.md nor the wiki, and wrongly assumed there was none provided.