diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt index 3409ea008ec4fee379c5244fe4ad464a95a0f24d..1b3457363e943ce4316567a744e603fcbd42a665 100644 --- a/ur_msgs/CMakeLists.txt +++ b/ur_msgs/CMakeLists.txt @@ -15,6 +15,7 @@ add_message_files( IOStates.msg RobotStateRTMsg.msg MasterboardDataMsg.msg + RobotModeDataMsg.msg ToolDataMsg.msg ) diff --git a/ur_msgs/msg/RobotModeDataMsg.msg b/ur_msgs/msg/RobotModeDataMsg.msg new file mode 100644 index 0000000000000000000000000000000000000000..5c443f7b6cbc590201c0cceaebdd3bd6488b8075 --- /dev/null +++ b/ur_msgs/msg/RobotModeDataMsg.msg @@ -0,0 +1,15 @@ +# This data structure contains the RobotModeData structure +# used by the Universal Robots controller +# +# This data structure is send at 10 Hz on TCP port 30002 +# +# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset. + +uint64 timestamp +bool is_robot_connected +bool is_real_robot_enabled +bool is_power_on_robot +bool is_emergency_stopped +bool is_protective_stopped +bool is_program_running +bool is_program_paused