Felix Exner (fexner)

In the files provided the robot program didn't show much, as in the example program included no connection to the ROS machine could be established. However, the most important part...

@SCerq could you pinpoint a time in the log_history when the freezing started?

Not exactly what you are looking for, but we have an [example](https://github.com/UniversalRobots/Universal_Robots_ROS_Tutorials/tree/main/ur_example_dual_robot) of a cell using two robots. We've created a [guide](https://github.com/UniversalRobots/Universal_Robots_ROS_Tutorials/blob/main/ur_documentation/docs/source/examples/dual_robot/step_by_step.rst) explaining all the necessary steps, as you'll need...

Could you please post the full output of the driver node?

is this a cross-post of https://answers.ros.org/question/383307/problems-connecting-to-ur5e-robot/? If so, let's stick to the ROS answers thread as we have been discussing things there, already.

We are currently working on this. For direct linear control we will have something available probably in September.

@stefanscherzinger Can you give any insight on the current status?

Yes, #35 would be the way to access arbitrary RTDE data. I'm sorry, this isn't high enough in our priority list currently. Did [this comment](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/35#issuecomment-768191372) not answer your second question,...

I see two possible solutions to this: 1. We move the launchfiles from the `ur_bringup` file to `ur_robot_driver`. This would have the benefit that (I think) it would be easier...

A lot changed since this issue was originally posted. We're currently putting in a lot of effort making all steps green. Once this is done, we can re-check whether everything...