Real-time robot state information transfer to external program

[Noeulleaf]

Hello,

I am currently working on a program that uses the tool_communication_node to transmit the robot's state information in real time to an external program and display it in a Windows-based program.

After reviewing the tool_communication_node.py file, it seems that the node does not directly handle the message format. I would like to confirm if the node transmits messages in the rtde_output_recipe.txt format.

thank you.

[RobertWilbrandt]

That is not what the tool communication script does. It is used to forward the RS-485 interface at the end-effector flange to the PC, allowing you to e.g. directly control grippers. More information on it can be found in the docs.

The rtde_output_recipe.txt file is used by our driver to communicate with the arm using RTDE. You should be able to just use our ROS interfaces (/joint_states, /force_torque_sensor_broadcaster/wrench, ...) to get all the data you need without directly accessing the RTDE layer.