Add information about tool communication setup and ttyTool resource conflicts #6
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urrsk
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Dec 8, 2025
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| For example, you can add a Script code program node to the program with the following code: | ||
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| ``` | ||
| set_tool_voltage(24) | ||
| set_tool_communication(True, 115200, 0, 1, 1.5, 3.5) | ||
| ``` |
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We should consider how we can help people not need to add these script lines to setup the tool communication
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When using it with the ROS driver, that isn't strictly needed, as it is done as part of the driver startup when requested. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/setup_tool_communication.html
Should we mention and link that in the README, as well?
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yes we should. Though using the ROS2 repo instead
urrsk
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Dec 8, 2025
urrsk
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Dec 11, 2025
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As noted in #5 there can be unexpected side-effects when having another URCapX installed using the ttyTool device. As this isn't necessarily obvious from the error seen, we should at least clearly state that in the README.
I also added instructions to enable tool communication on the robot.