Multiple RTDE connection for different resources

[pucciland95]

Hi all,

I am trying to develop a ROS agnostic C++ interface for different robot brands that handles low-frequency requests (load/play programs, read write signals,...).

Right now, I am developing the UR implementation, however, I am stuck on how to handle the Digital outputs/inputs/registries. Indeed, accordingly to the documentation, it is possible to interact with them from an external device through the RTDE client.

If I understood correctly, the RTDE client is already created by the ROS2 driver (which I want to maintain, to have a high-frequency command channel) and exchanges with the control box what is defined in the input and output recipes. Accordingly to the RTDE documentation:

Input messages: Variables in the controller can be updated via multiple messages. Inputs retain their last received value, and only one RTDE client can control a specific variable at any time.

Does this mean that if I remove from the ROS2 driver recipes all the things related to the Digital input/output/registries, I can have another RTDE client exploiting only those resources?

I hope I made myself clear,

Cheers,

Niccolo