UrDriver

The UrDriver class is the core of this library. It creates an interface to the robot containing all components from this library.

When creating an instance of the UrDriver class, the created object will contain

As this page is not meant to be a full-blown API documentation, not every public method will be explained here. For a full list of public methods, please inspect class definition in the ur_client_library/ur/ur_driver.h header file.

Many functions from the individual components are directly wrapped in the UrDriver class, for example there is UrDriver::startForceMode(...) which is a wrapper around the ScriptCommandInterface::startForceMode(...) function.

As an example on how to use this class, please see the full_driver.cpp example.

Public helper functions

checkCalibration(const std::string checksum)

This function opens a connection to the primary interface where it will receive a calibration information as the first message. The checksum from this calibration info is compared to the one given to this function. Connection to the primary interface is dropped afterwards.

sendScript(const std::string& program)

This function sends given URScript code directly to the secondary interface. The sendRobotProgram() function is a special case that will send the script code given in the RTDEClient constructor.