Streaming messages

The communication between the controller and the Streaming PC is realized by UDP messages.

In the following, the message format for each of these messages is defined.

• Trajectory: Joint position — streaming mode 1.
• Trajectory: Joint position + velocity — streaming mode 2.
• Trajectory: Cartesian (absolute) — streaming mode 3.
• Trajectory: Cartesian (relative) — streaming mode 4.
• Feedback messages — what the controller sends back.