RTDE Connection

[stevennn]

Hi,
I’ve found a potential solution, but I’m still testing it to confirm whether it really works.

For context, I’m using a program for testing purposes, and originally it included a time.sleep(1 hour) delay. After that i need to get actual Joint position, and sometimes it gets error. I replaced that with a while loop that frequently calls rtde_receive to receive information.

Connection to Robot keeps breaking unexpectedly (#102) · Issues · SDU Robotics / ur_rtde · GitLab
From the reference I found, it was suggested to use a wired connection,

RTDE times out after 10s

Receive has to be called frequently, otherwise input buffers overflow. UR should be more explicit about that in the API documentation. Thanks for reporting.

And from this reference i found, the buffer can overflow if you don’t continuously retrieve data.

So, my approach is to call getActualTCP() and getActualQ() frequently, as those are the only pieces of information I need. So far, it’s been working, but I’m still in the testing phase to make sure it’s stable.