We get an issue with a client writing in RTDE output registers that are actually use by our software.
This is because there is no way to reserve a controller output register so anyone can write to these registers.
This type of problem is difficult to identify for the client and for us and leed to misunderstandings as to the source of the problem.
It would be a good idea to give to URCap the possibility to reserve controller output registers and alos a way to select available registers.
Thanks for the input, @malacasse
We are looking into the options to improve the usage and scalability of the realtime interfaces.
Thanks for the information, always great to get more insight on ways we can improve our system.