Universal Robots Forum

Waypoint-URCap-C++ daemon


Maybe this is an easy question but I only started programming a few months ago.

I wrote a C++ program that defines the x, y and z coordinates of a waypoint. My goal is to include this program as a daemon in a URCap file that would give the robot a waypoint. In other words: I would like to set a waypoint externally from Polyscope with a C++ program.

What I do know is that I have to use XML encoded Remote Procedure Calls and use a myDaemon service in order to do so. However it is unclear for me what files I need exactly. I did take a look at the mydaemon sample and at the URCap tutorial but it confuses me more than it helps me as the roles of the files in the project are not thoroughly described. Could someone tell me what kind of files I need for this?

Thank you in advance,

I also had trouble with creating a URCap using myDaemon. One big issue is that the environment in order to develop a myDaemon URCap requires a Linux machine and does not work with a virtual machine. For me it was a lot easier to work with simple socket communication and send information thru socket connections. Socket communications are simple to setup and use.

Here is one example of it being used with C# https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ethernet-socket-communication-via-urscript-15678/

Here is another using python to send commands via socket to UR. http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-via-socket-connection/

Hello Roman,

Thank you so much for your answer! I am checking out your links at the moment. However I should have mentioned that I am using a Linux machine. Do you still think that Socket communications are the best option for me?

First since you’re new to URCaps I would take the time to learn the functionality. Perhaps start with a simple manual then work towards the communication. I like socket communication because it’s easy to setup but XML once you get the hang of it shouldn’t be too difficult. If you’re sending large amounts of data then XML may be nicer but if you’re just sending way point coordinates then I would use sockets.

Ok I’ll try sockets then. Thank you for your help!

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