Hello,

With further reading I was wondering whether this should not be handled by a custom-transport...

@Gianni: thanks, I will look deeper into the FileDescriptorActivity!

PS: am I the first one to put a communication in place between orocos and a UR5?

Thanks,

Antoine Rennuit.

________________________________
De : Gianni Borghesan <gianni [dot] borghesan [..] ...>
Envoyé : mercredi 20 janvier 2016 13:17
À : Antoine Rennuit
Objet : Re: [Orocos-users] Orocos + UR5 TCP/IP communication

Hi,
there is an activity that answer your need
http://www.orocos.org/stable/documentation/rtt/v2.x/api/html/classRTT_1_...

Other options:
2) make it periodic (the RT interface works at 125Hz and the status at10hz),
3) as per the kuka LWR, make the component aperiodic, and trigger the update again at the end of update:

void FRIComponent::updateHook() {
//Read:
recv(......)
//do stuff....
this->trigger();
}
here you will schedule continuously this update, that will block on the recv...

On 20/01/16 12:08, Antoine Rennuit wrote:

Hello,

I would like to create components to receive and transmit data to a real UR5 controller live (via TCP).

I was thinking of having on my host machine a "TCP client component" for receiving the UR5's state from the UR5 controller + another "TCP server component" for transmitting desired joint trajectories to the UR5 controller.

Now focusing on my "TCP client component" I thought about how this component could be activated. Components can generally be activated in orocos via a timer, as a slave, or onIncomingEvent...). In terms or realtimeness, the best option would be to get my "TCP client component" activated on incoming TCP packet. Though this requires the client to be implemented outside the "TCP client component" (and I don't think this is possible). The next best option is to put a callback in place in my "TCP client component" which will be called by the system on incoming TCP packet and setup a periodic activity to call the component's update(). The update() would read the data received by the callback and write it in a port. I guess this would work but it introduces a lag (as the update() won't be called right after the callback).

Has this already been done? Any idea of what is my best option?

Kind regards,

Antoine.

--
------------------------------------------------
Gianni Borghesan, PhD
Robot Assisted Surgery group
Robotics Research group
KU Leuven,
Department of Mechanical Engineering,
Division of PMA
Room 02.019
Celestijnenlaan 300B, B-3001 Heverlee, Belgium.
Tel: +32 163 29267

------------------------------------------------

Hi All,

I don't know yet how they got in, but clearly, the mail did not come from
me. So please delete/ignore it.

Thanks,
Peter

On Mon, Sep 28, 2015 at 6:18 PM, Ruben Smits <ruben [dot] smits [..] ...>
wrote:

> Looking at the actual link I would not advise anyone to follow that link.
>
> R.
>
> Op 15:59 MA 28 Sep 2015 schreef Gooding, Dustin R. (JSC-ER411) <
> dustin [dot] r [dot] gooding [..] ...>:
>
>> All my years of phishing training gives me pause here. Peter, is this
>> legit?
>> --
>> *Dustin Gooding*
>> NASA/JSC Robotics
>>
>>
>>
>> On Sep 25, 2015, at 6:46 PM, Webmail Team <peter [..] ...>
>> wrote:
>>
>> Dear webmail users,
>> ?? Please we are moving to new mail servers, you are advised to access
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