Communication with UR5
Hi all,
I plan to use the ROS-Industrial universal-robot package (found here) with a real UR5. Though as I do not have the arm at hands currently, I am not sure how the communication is intended to be handled between the ROS machine and the UR controller. So I have a few questions related to this:
- How is the information physically transported from the ROS machine to the UR controller?
- Is this Ethernet? Modbus? GPIO? USB?
- What type of information is sent to the controller?
- Is this a desired FollowJointTrajectoryGoal? It is not clear to me from these slides...
- So does that mean there is a ROS node on the UR controller?
- If not, what kind of information is sent? And how is it received by the UR controller?
- What happens if the robot cannot reach its desired trajectory? (e.g. it collides with something unexpected or so...)
- Is the ROS machine notified?
I am mainly interested by the C-API version found in branch hydro-devel-c-api as it looks most advanced, though I am also interested to know whether things work the same way when using UR script.
Anyone has a better understanding than me on the above questions?
Thanks,
Antoine.
I'm assuming you are, but if you are intending to use the ROS-Industrial
universal_robot
package, I think you should mention that explicitly in your question. Also, URScript or C-API version? There are some more pkgs out there for UR robots, so being explicit helps.You are right. I have updated the post accordingly. Thanks.