I’m integrating the RTDE client in a python daemon to read the robot’s pose.
I could already modify the samples provided to read it successfully in the simulator using the software version (3, 4, 0, 285).
When I try to run it in a real robot (version 184.108.40.206), the RTDE client cannot negotiate the protocol version. The samples use protocol v2, so I changed it to 1. When I do so, I get the following error:
Traceback (most recent call last):
File “/usr/lib/python2.5/threading.py”, line 486, in __bootstrap_inner
File “pose_daemon.py”, line 47, in run
if not con.send_output_setup(output_names, output_types, POSE_UPDATE_RATE):
File “/daemon/rtde/rtde.py”, line 125, in send_output_setup
result = self.__sendAndReceive(cmd, payload)
File “/daemon/rtde/rtde.py”, line 202, in __sendAndReceive
File “/daemon/rtde/rtde.py”, line 245, in __recv
data = self.__on_packet(packet_header.command, packet)
File “/daemon/rtde/rtde.py”, line 188, in __on_packet
File “/daemon/rtde/rtde.py”, line 289, in __unpack_setup_outputs_package
output_config = serialize.DataConfig.unpack_recipe(payload)
File “/daemon/rtde/serialize.py”, line 177, in unpack_recipe
raise ValueError('Unknown data type: ’ + i)
ValueError: Unknown data type: OT_FOUND
I don’t know what I’m doing wrong. Does someone know what to do to get the protocol version 1 working correctly? Do I need to change something in the XML configuration file?
Thanks in advance
EDIT: I just read the release notes for SW 3.4 which mention the upgrade to protocol version 2, and that the samples were upgraded. Is there some sample code for version 1 around?
We would suggest sticking to protocol v2 since this was introduced in SW 3.4.
Thanks! I will take that into account!
I am also working on getting RTDE working. Like jubeira, I have a working version on the simulator against UR version 3.4 protocol version2, but I can not seem to get a working sample for protocol version 1 working. My robot is running version 3.3. How much work is it to upgrade the robot from 3.3. to 3.4?
Upgrading simply requires for you to download the software (.urup file) from the Support site, place it on a USB drive, plug the USB into the robot, and navigate to Setup Robot > Upgrade,
This should also be elaborated in the manual.
UR Software download
Thanks JBM. I will upgrade the robot and continue to work against RTDE protocol 2.