executeSecondaryURScriptCommand

Execute secondary URScript command over ROS interface

Since R2023a

Syntax

executeSecondaryURScriptCommand(ur,cmdStr)

Description

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.

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

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Set Standard Digital Output Using URScript

Connect to a physical or simulated cobot, using either urROSNode or urROS2Node object (based on the option for connectivity – ROS or ROS 2, which you selected in the Hardware Setup screen).

Connect to a physical or simulated cobot at IP address 192.168.2.112 on the ROS network.
```
ur = urROSNode('192.168.2.112');
```
Connect to a physical or simulated cobot on the ROS 2 network.
```
ur = urROS2Node;
```

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

commandString = "set_standard_digital_out(1,True)";
executeSecondaryURScriptCommand(ur,commandString);

Input Arguments

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`ur` — Connection to Universal Robots cobot
object

Connection to physical or simulated cobot from Universal Robots, specified as a urROSNode object or a urROS2Node object.

`cmdStr` — URScript command
string scalar | character vector

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