Universal Robots+

ROS driver for RTDE communication


I am currently using the Universal Robots ROS driver to control a UR3. The control is great, but I want to be able to see the actual TCP force. From the rtde_output_recipe.txt file I can see that the UR ROS driver gets the actual TCP force from the rtde server, but where do I access this information? And how do you communicate with the rtde server through the UR ROS driver?

Directly communicating with the RTDE server isn’t possible. The driver itself acts as an RTDE client that receives all data defined in the rtde_output_recipe, as you already found.

the tcp force is published by the force_torque_sensor_controller which is of type force_torque_sensor_controller/ForceTorqueSensorController under the topic /wrench.

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Thank you! That was exactly what i was looking for.