telemetry_bridge__py

ROS 2 node that receives KUKA robot telemetry over TCP and publishes to ROS topics.

Overview

Listens for incoming TCP connections on port 60002 (configurable), receives 128-byte telemetry packets from KUKA robot, and publishes decoded data to standard ROS message types.

Published Topics

/kuka/pose (geometry_msgs/PoseStamped) - Cartesian position and orientation (quaternion)
/kuka/velocity (geometry_msgs/TwistStamped) - Calculated Cartesian velocity
/kuka/velocity_cartesian (std_msgs/Float32) - Velocity magnitude in mm/s
/kuka/joint_states (sensor_msgs/JointState) - Joint angles for axes A1-A6
/kuka/sequence_number (std_msgs/Int32) - Telemetry packet sequence number
/kuka/queue_size (std_msgs/Int32) - Command queue size on robot

Usage

ros2 run telemetry_bridge__py ROS_telemetry_server

Parameters

port (default: 60002) - TCP port to listen on
frame_id (default: "kuka_base") - Frame ID for published messages

Example with custom parameters

ros2 run telemetry_bridge__py ROS_telemetry_server --ros-args -p port:=60003 -p frame_id:=robot_base

Telemetry Packet Format (output from KUKA - consumed here)

128-byte binary packet:

Bytes 0-23: Cartesian position (X, Y, Z in mm) and orientation (A, B, C in degrees)
Bytes 24-47: Joint angles A1-A6 (degrees)
Bytes 48-63: Sequence number, in-flight count, queue size, flags
Bytes 64-75: Actual velocity, active tool/base indices

Requirements

ROS 2 Jazzy
Python 3
Standard ROS message packages: geometry_msgs, sensor_msgs, std_msgs

License

Apache-2.0

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