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ryanpennings / RTDE_UR

Real Time Data Exchange streaming for universal robots. (Streams points to robot, for running large files)
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File for fetching robot data. #3

Closed addy1997 closed 3 years ago

addy1997 commented 5 years ago

Hi Ryan,

This is Adwait I have tried fetching the data like TCP, Torque etc values from my UR5 robot. I would like if you check the code and if possible merge it into your repo.

Thanks

ryanpennings commented 5 years ago

You should use the read-only ports for reading values like this. (see https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/) as the new e-series controllers will drop the connection to port 30002 when running in local mode. You could also grab the data from the real time or RTDE interfaces much quicker than the primary and secondary interfaces.

I can't test it at the moment either sorry.