RTDE actual_TCP_velocity

ROS
1

Hi all,

I’m using the ros driver to control a UR10e and would like to monitor the velocity of the end effector. I saw that there is actual_TCP_speed as part of the RTDE output but could not find the equivalent from the driver’s published topics. Is there a message being published that provides this information?

2

Hi,

please see Publish "actual_TCP_speed" data field in hardware interface · Issue #62 · UniversalRobots/Universal_Robots_ROS_Driver · GitHub that already covers that.

Also, see https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/35 which aims at making all RTDE fields easily available to ROS topics.

1 Like
3

Thanks for the help, I will give it a go.