Getting the pose time stamped from the robot

Technical Questions Robot Communication
1

Hello,

I am using the ur_rtde python package to communicate and move the UR10 robot. However getActualTCPPose () doesnt give the time in which the pose was captured. Is their any way to have access to this data.

I am aware of getTimestamp () which give me access to the clock within the robot but I still need the exact moment the reading was registered for the pose.

Thank you.

2

through UR’s TCP/IP server, like primary, realtime and rtde, we can only get system timestamp.

possible solution could be get the time from Linux system, like the log file. Which i have no idea how to get it done.

can anyone help? :grinning:

3

I am using ROS and recording other camera related data (mounted on the UR), the hardware timestamp of the pose is essential to sync the messages together.