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 Trajectory: Joint position
  • 2 Joint positions and velocities, see Trajectory: Joint position + velocity
  • 3 Absolute Cartesian pose, see Trajectory: Cartesian (absolute)
  • 4 Relative (to the end effector frame) Cartesian pose, see Trajectory: Cartesian (relative)
• target_frequency The frequency, at which streaming messages will be sent in [Hz].
• 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,
"source_ip": {
    "address": "192.168.1.99"
}
}