Data over TCP socket

[nbubis]

The document here, explains the data format received from the robot over port 30000. Three questions:

• When is the timetamp field in reference to? It's clearly not microseconds since epoch
• Is there any way to synchronize this clock to the clock of the host computer the robot is attached to?
• The table does not include the gripper position. What port and what bytes represent the gripper? I'm using the xArm parallel gripper.

[penglongxiang]

Hi @nbubis,

1. The timestamp value is the microseconds elapsed since the controller box boot-up.
2. It would be the user program to do the value comparison and synchronization. However if the host computer uses network clock sync mechanism, discontinuous time jump may occur.
3. The communication with gripper is less efficient (as an external peripheral) and not automatically done in real-time, so there is no gripper position info in the real-time report channel. You can periodically check the gripper status through our API: get_gripper_position().