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
an RTDEClient
a rudimentary client to the robot’s secondary interface
a couple of helper functions
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.