Nature of RTDE Connection


I have a question regarding the nature of the RTDE Connection. As far as I understood the topic it is a TCP/ IP socket connection. But which protocol is used, TCP or UDP? My first guess was the udp protocoll because of the minimalistic connection properties and the speed requirements. Or is RTDE a protocol in itself?

Please shine a light on the road of a newbie robotics enthusiast.

best regards,

Daniel Bergmann

RTDE is on TCP (port 30004). It is a bidirectional protocol, which is much easier to manage in TCP (connected) than in UDP.