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Execute secondary URScript command over ROS interface

Since R2023a


executeSecondaryURScriptCommand(ur,cmdStr) executes the secondary URScript command specified by cmdStr using ROS topic interface. This function accepts the URScript commands in terms of string or char. The command must be wrapped in a secondary program.


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.


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Connect to ROS at IP address

ur = universalrobot('');

Specify the secondary URScript command to set standard digital output signal level, and execute the command.

commandString = "set_standard_digital_out(1,True)";

Input Arguments

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

URScript command, specified as a string scalar or character vector, wrapped in a secondary program.

Example: set_standard_digital_out(1,True)

Data Types: string | char

Extended Capabilities

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

Version History

Introduced in R2023a