Time Delay from laptop to robot of each data sample

Technical Questions URScript
1

Continuing the discussion from Get current time:
Hey!! I have a question
I am using Python script to teleoperate UR5, how can I calculate the time delay from my laptop to robot?
I need to know at what time does each data sample (suppose position data) reach robot?

2

The results will depend a lot of what protocol you use.

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3

I am new to this robotics communication field, and I simply need a procedure, I exactly don’t know which protocol I am using, maybe it is UDP protocol but I am using ROS communication. UR5 and my laptop are connected to the same network ( intranet). Please guide me

4

I’m not sure it’s exactly what you’re asking for, but since you’re already using ROS, this thread from the UR-sponsored ROS driver project might be useful:

5

Hello, I’m working on calculating the time delay between a robot and my laptop. I’m using Python along with the RTDE interface. The method rtde_receive.getTimestamp() provides the timestamp of the robot from starting the robot as UNIX. Using Wireshark, I can see when the data reaches my PC. Is there a way to determine the exact time a data packet leaves the robot?
@ADS_Facy did you find the solution?
thank you

6

@n.ghasemnezhadrezaei I did not use RTDE interface. Although I only used python to calculate delay. I sent data ( any position data or sinusoidal signal) to robot continuosly and used Time.now() function of python. Thereafter I collected the data received at robot end through ROS. I plotted a graph between data sent and data received. We can see delay in that plot. You can easily extract the delay through MATLAB or any other software.

I guess Wireshark would already be giving overall communication delay between laptop and robot. But for each packet, plot a graph between sent data and received data using ROS or any other tool.