Read Joint Angles

This section helps you to connect the KINOVA® Gen3 7-DoF Ultralightweight Robot arm to ROS network and read joint angles using MATLAB^®.

Execute the following commands in the MATLAB sequentially to read joint angles from the robot. As explained in KINOVA github page, the first part of the ROS topic, 'my_gen3’ might be different based on the robot name set during the roslaunch command.

Create subscriber for a ROS topic /my_gen3/joint_states and receive the latest message.

jSub = rossubscriber('/my_gen3/joint_states');
jMsg = receive(jSub);

Extract the joint angles from the received data.

angles = int16(jMsg.Position(1:7)'.*180/pi);
disp(angles);