Use of Robotiq copilot ActiveDrive function along with ur_rtde

Technical Questions Robot Communication
1

Hello,

I’m trying to enable Robotiq copilot ActiveDrive while connected to RTDE by the following steps:

  1. Connect to RTDE (with specific port) through C++ code while have the URcap in remote mode.
  2. Once we connect we have a “program running” mode.
  3. At this point I would like to enable AssistedDrive of the copilot, this uses other TCP/IP port than the RTDE and we can’t do it unless we disconnect the RTDE.

My question is, is there a way to connect and enable the AssistedDrive while we are connected to RTDE and the Urcap is in “program running” mode?

Thanks in advance,
Gil