Sending URScript secondary program through ROS topic interface

ROS
1

Hi All,

Hope you are doing great.

I am trying to use the ROS topic interface with URSim to send the URScript command to control the simulated robot.

I am trying to prevent the program stop with the mentioned workaround on this link: Universal_Robots_ROS_Driver/ROS_INTERFACE.md at master · UniversalRobots/Universal_Robots_ROS_Driver · GitHub

and my final command looks like this,

rostopic pub /ur_hardware_interface/script_command std_msgs/String "data: 'sec myProgram(): set_digital_out(0, True) end'"

Here I am not seeing the execution of the command in the URSim.

Any comments will be appreciated.

Thanks,
Milan

2

The comment in the documentation actually got illegally formatted when automatically being extracted from the source code.

However, rostopic pub adds additional challenges regarding newlines. A working command would be:

rostopic pub /ur_hardware_interface/script_command std_msgs/String "data: 'sec myProgram():

 set_digital_out(0, True)

end

'"
3

is there any topic to send custom urscript in ros2