Felix Exner (fexner)

I think I'll stick with getting the parameters from the parameter server, but I'll reduce the overall dependency on ROS so we can more easily re-use this for ROS2.

Let's break down things and address one problem at a time before starting everything. Simply running ``` roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.11.0.1 kinematics_config:=$(rospack find example_organization_ur_launch)/etc/ur5e-1_calibration.yaml ``` should get you a running...

Having a node that subscribes to that topic and then doing something with the value in the msg callback should be sufficient. Something like this (Note: I haven't tested that...

Thanks for bringing this up. We will definitely look into this!

@stefanscherzinger assigning this to me so it pops up in my task list. If you'd like to look into this before me, please let me know.

> roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:="192.168.100.1" reverse_port:="29999" Is that on purpose that you use the same port number on the ROS machine for the reverse port as used for the dashboard...

> It is on purpose but that's likely a misunderstanding on my part. I was getting this error when in manual mode > > ``` > "Command is not allowed...

I cannot see any trace of the robotiq URCap inside `ExternalControl.script`, however, you state that the problem only occurs, when that URCap is installed. Does the problem also occur, if...

Hm, ok... As stated above I don't see any interaction between the driver and the robotiq URCap, so I currently cannot provide any hints where the problem could lie,

As this only occurs when you have the external control program node in your program it does not seem to be completely unrelated.