I am writing this post to bring attention to an issue that I am facing with the RTDE control. I am trying to obtain the actual_tcp_pose from RTDE, but it seems that it is not being updated when I free drive the UR robot around. I have already included the state = con.receive() in the loop to make sure it is updated, but it is still not working.
Here is the relevant code from my control loop:
control loop
while keep_running:
# receive the current state
state = con.receive()
tcp1 = state.actual_TCP_pose
print(‘actual_TCP_pose’)
print(tcp1)
I would greatly appreciate it if you could help me resolve this issue. Thank you for your time and assistance.