Main Content

executePrimaryURScriptCommand

Execute primary URScript command to control cobot over ROS interface

Since R2023a

collapse all in page

Syntax

executePrimaryURScriptCommand(ur,cmdStr)

Description

executePrimaryURScriptCommand(ur,cmdStr) executes the URScript command specified by cmdStr using ROS topic interface. This function accepts the URScript commands in terms of string or char.

Note

This function does not check for the syntax validity of the command. Ensure that you verify the command before sending it to the physical robot.

Examples

collapse all

Connect to ROS at IP address 192.168.2.112.

ur = universalrobot('192.168.2.112');

Specify the URScript command for moving a joint to position, and execute the command.

commandString = "movej([0, -1.57, 0,-1.57, 0, 0])";
executePrimaryURScriptCommand(ur,commandString);

Input Arguments

collapse all

Connection to physical or simulated cobot from Universal Robots, specified as a universalrobot object.

URScript command, specified as a string scalar or character vector.

Example: movep(pose, 1.2, 0.25, 0)

Data Types: string | char

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2023a

See Also

|