Has anyone successfully utilized the RTDE via a daemon running in a URCAP? I’ve tried to cobble together the various samples, and I’m really CLOSE (I think) but can’t quite get it to actually update the values in real time. I’ve got a method that prints the actual TCP pose and Joint positions to the screen, and this is correct, but if I move the robot and call it again, the values haven’t changed. It’s like I have to call “con.receive()” multiple times in a row in the python daemon before it ever updates the values.
How did you even get that far? When I try run a daemon that connects to 30004 in particular, I don’t get any signs of life in the Control Log that a connection is even attempted.
I mostly just used the example Daemon CAP from UR. Or at least, ripped all the logic out of it and put it in my own CAP. Is that what you’ve started with as well?
Yes, that’s what I did.
I changed it up slightly and just tested it via normal RTDE (from my laptop remotely), which helped me debug my python script. Turns out connecting to the RTDE is completely feasible from within a URCap.
Had I not debugged in this way I would never have connected: A commented “-” was throwing errors because it was not an ASCII character supposedly. This is why I wasn’t seeing anything in the control log.