Measure forward- and feedback-delay
Dear all,
I want to measure the time it takes to send a message from my ROS-machine to my UR5e ("forward-delay").
I already know that ros messages have timestamps. I could not find a tool or function in ROS that has this type of function.
My problem is that i don't know how to get the Controller of the UR5e e.g., to record the time when a message arrived.
I'm not sure in how far it is possible and reasonable to install additions software directly onto the controller. Does anyone have experience with that?
Thank for your help!
PS: I'm using ROS Melodic on a Ubuntu 18 System. I work with an UR5e Robot. The goal to produce jitter and packetloss, and then to measure to impact onto to communication with the robot. Therefor i want to measure the forward- and feedback-delay (time from sensors to ros-machine).
