Dobot CR

TCP hardware interface plugin for Dobot CR. Dashboard / real-time TCP (README: 29999 command, 30004 realtime). There is no robot_port <param> in on_init.

Repository: fiveages-sim/dobot-cr-ros2-control · README 配置参数

Plugin: dobot_ros2_control/DobotHardware. No on_set_parameters.

How to read Startup only / Runtime: Hardware Interfaces.

Parameters

All rows in this table are Startup only.

Parameter

Type / default

Meaning

robot_ip

string / "192.168.5.38"

Robot IP

servo_time

double / 0.03

ServoJ duration (s); README: match 1 / controller_manager.update_rate

aheadtime

double / 20.0

Trajectory look-ahead (README range 20–100)

gain

double / 500.0

Tracking gain (README range 200–1000)

speed_factor

int / 5

Global speed percent (README range 1–100)

verbose

bool / false

TCP / command logs

gripper_type

string / "changingtek" (source; not in README table)

Used when a gripper joint is present

gripper_read_frequency_divider

int / 4 (source; not in README table)

Gripper read divider