Closed TSsimon closed 5 years ago
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
.
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.
@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.
and that's all.
unless you want to use services. In which case using the urscript topic is not going to work.
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.
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.
@gonzalocasas: do you have any particular reason to not use the set_io
service?
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.
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 !