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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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UR script messages #329

Closed JRosaa closed 5 years ago

JRosaa commented 5 years ago

Hello. I am using an adaptation of this driver for UR5e arm. I understand the topic /ur_driver/URScript receives commands according to The URScript Programming Language. However, most of these commands have a return value, which I cannot access. Is there a way to read this command return value?

gavanderhoorn commented 5 years ago

The urscript topic is not a replacement for running actualy urscript scripts on the controller, but a ROS-i-fied way to submit scriplets to port 30002. It's completely analogous to how you would do this without ROS (ie: open a connection to tcp://:30002 and write(..) some ascii text to the fd).

It also comes with the exact same restrictions (such as not returning your the return values).

This does not seem to be something we can do anything about.