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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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Question: minimum requirements #345

Closed gonzalocasas closed 4 years ago

gonzalocasas commented 4 years ago

Considering the ur_modern_driver is so demanding on the computer and network to work reliably, has anyone determined & documented its minimum requirements already? (When not using the low bandwidth trajectory follower).

Alternatively -or perhaps even better than a static requirements list-, a start-up test that verifies that the system can sustain latency and bandwidth required might go a really long way at reducing (new) user's frustration.

gavanderhoorn commented 4 years ago

No, the minimum requirements have not been determined as far as I know.

It's also going to depend quite a bit on system utilisation: an RPi with no other tasks than the driver can run it quite successfully, but an i7 with 32GB of ram running 30+ nodes and Gazebo may have trouble sustaining the required rates. And that is disregarding factors like network bandwidth, contention on the segment, etc.

Note: I'm not claiming this would not be good information to have. Just noting that it's not a trivial thing to do/measure.

gavanderhoorn commented 4 years ago

321 could help, but for that to really work, users would have to install an RT kernel, which will probably not help make things "easier" for the average user.

gavanderhoorn commented 4 years ago

I'm closing this as we've officially deprecated this package.

Refer to the announcement on ROS Discourse.

gavanderhoorn commented 4 years ago

By closing this, I'm not dismissing it, but I feel it would make sense to try and derive some system requirements for ur_robot_driver instead.

If you'd agree, please open an issue on the ur_robot_driver tracker to discuss.