Get current joint velocities from the robot
waits for the next published joint state from the Universal Robots cobot connected through
ROS interface, and returns current joint velocities. If no message is received in 5 seconds,
the function displays an error.
allows you to specify a timeout for obtaining the current joint velocities from the
Universal Robots cobot connected through ROS interface. If no message is received within the
specified time, the function displays an error.
Obtain Joint Velocities from Cobot
Connect to a physical or simulated cobot at IP address
192.168.2.112 on the ROS network.
ur = universalrobot('192.168.2.112');
Get current joint velocities of the cobot.
jointangles = getJointVelocity(ur);
jointVelocity = 1×6 10-12 x -0.2650 0.3293 -0.1815 -0.2142 0.2368 -0.0602
Specify a timeout of 10 seconds while obtaining current joint configuration of the cobot.
jointangles = getJointVelocity(ur,10);
ur — Connection to Universal Robots cobot
Connection to physical or simulated cobot from Universal Robots, specified as a
timeout — Timeout in seconds
Timeout value by which the joint velocities must be obtained from the simulated cobot, specified in seconds.
jointvelocity — Current joint velocities
Current joint velocities, returned as a 1-by-6 vector of angular velocity in rad/s (radians per second).
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