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urfeex merged 1 commit into from
Dec 12, 2025
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Add information about tool communication setup and ttyTool resource conflicts #6

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23 changes: 23 additions & 0 deletions README.md
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Expand Up @@ -28,6 +28,29 @@ guide](https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/
for more information.


> [!WARNING]
> The ttyTool is considered a shared resource. Currently, it's up to the user to ensure that no two
> URCapX are trying to access the ttyTool at the same time. This could lead to unexpected behavior.
> See the [URCapX SDK
> documentation](https://docs.universal-robots.com/PolyScopeX_SDK_Documentation/build/SDK-v0.18/HowToGuides/tool-connector.html#special-considerations)
> for more information.

### Robot setup

To use the forwarded ttyTool, you will need to enable tool communication on the robot. This can be
done by using the URScript functions
[`set_tool_communication`](https://www.universal-robots.com/manuals/EN/HTML/SW10_11/Content/prod-scriptmanual/all_scripts/set_tool_communication.htm)
and
[`set_tool_voltage`](https://www.universal-robots.com/manuals/EN/HTML/SW10_11/Content/prod-scriptmanual/all_scripts/set_tool_voltage_voltage.htm).

For example, you can add a Script code program node to the program with the following code:

```
set_tool_voltage(24)
set_tool_communication(True, 115200, 0, 1, 1.5, 3.5)
```
Comment on lines +46 to +51
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@urrsk urrsk Dec 8, 2025

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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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@urfeex urfeex Dec 8, 2025

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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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@urrsk urrsk Dec 8, 2025 •
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yes we should. Though using the ROS2 repo instead



## Build and Deploy Sample

To build and deploy this sample, use the commands below. A rebuild of the project is required to see any changes made
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