Struct UrDriverConfiguration
Defined in File ur_driver.h
Struct Documentation
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struct UrDriverConfiguration
Structure for configuration parameters of a UrDriver object.
Public Members
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std::string robot_ip
IP-address under which the robot is reachable.
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std::string script_file
URScript file that should be sent to the robot.
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std::string output_recipe_file
Filename where the output recipe is stored in.
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std::string input_recipe_file
Filename where the input recipe is stored in.
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std::function<void(bool)> handle_program_state
Function handle to a callback on program state changes.
For this to work, the URScript program will have to send keepalive signals to the
reverse_port
.
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bool headless_mode
Parameter to control if the driver should be started in headless mode.
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std::unique_ptr<ToolCommSetup> tool_comm_setup = nullptr
Configuration for using the tool communication.
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uint32_t reverse_port = 50001
Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
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uint32_t script_sender_port = 50002
The driver will offer an interface to receive the program’s URScript on this port. If the robot cannot connect to this port,
External Control
will stop immediately.
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uint32_t trajectory_port = 50003
Port used for sending trajectory points to the robot in case of trajectory forwarding.
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uint32_t script_command_port = 50004
Port used for forwarding script commands to the robot.
This interface supports a set of predefined commands. The script commands will be executed locally on the robot.
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std::string reverse_ip = ""
IP address that the reverse_port will get bound to.
If not specified, the IP address of the interface that is used for connecting to the robot’s RTDE port will be used.
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int servoj_gain = 2000
Proportional gain for arm joints following target position, range [100,2000].
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double servoj_lookahead_time = 0.03
Time [S], range [0.03,0.2] smoothens servoj calls with this lookahead time.
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size_t socket_reconnect_attempts = 0
Number of attempts to reconnect to sockets such as the primary or RTDE interface.
If set to 0, the driver will try to reconnect indefinitely.
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std::chrono::milliseconds socket_reconnection_timeout = std::chrono::seconds(10)
Time in between connection attempts to sockets such as the primary or RTDE interface.
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size_t rtde_initialization_attempts_ = 3
Number of attempts to initialize (given a successful socket connection) the RTDE interface.
If set to 0, the driver will try to initialize the RTDE interface indefinitely.
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std::chrono::milliseconds rtde_initialization_timeout_ = std::chrono::seconds(5)
Time in between initialization attempts of the RTDE interface.
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bool non_blocking_read = false
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std::string robot_ip