Start Streaming

By sending this message, the controller is notified to transition to streaming mode. Along with the message, a payload needs to be transmitted that configures the streaming mode.

Payload

• mode The desired streaming mode, i.e. the type of waypoints to be streamed

  • 0 None, no streaming activated

  • 1 Joint positions, see Mode Joint Positions

  • 2 Joint positions and velocities, see Mode Joint Positions and Velocities

  • 3 Absolute cartesian pose, see Mode Cartesian (absolute)

  • 4 Relative (to the end effector frame) cartesian pose, see Mode Cartesian (relative)

• target_frequency The frequency, at which streaming messages will be sent in [Hz].

• desired_buffer_length Target length of the message buffer.

  • Note: For some modes relying on spline interpolation, the buffer has to have at least four entries.

  • A larger buffer makes the program more robust against e.g. packet loss, at the cost of a longer input delay (in real-time streaming applications)

• source_ip The IP address from which streaming messages will be sent. Messages from all other addresses are rejected.

Example:

{
"mode": 1,
"target_frequency": 200,
"desired_buffer_length": 8,
"source_ip": {
    "address": "192.168.1.99"
}
}