Setting tool voltage via ROS driver at runtime

ROS
1

Hi

I’m trying to control a magnetic tool changer that is attached to the UR10e with the ROS Driver. To release the tool from the tool changer, a voltage of 24V needs to be applied to the tool I/O of the UR10e. I found the parameter use_tool_communication where the tool voltage can be set, however, this voltage cannot be changed during runtime.

So my question is, how can I set the voltage of the Tool I/O pins of the UR10e via the Universal_Robots_ROS_Driver package at runtime?

2

I am afraid, this is currently not (yet) supported.

Edit: I’ve created a corresponding issue.