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getJointVelocity

Get current joint velocities from the robot

Since R2022a

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Syntax

jointvelocity=getJointVelocity(ur)
jointvelocity=getJointVelocity(ur,timeout)

Description

jointvelocity=getJointVelocity(ur) 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.

jointvelocity=getJointVelocity(ur,timeout) 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.

example

Examples

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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;

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);

Input Arguments

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

Timeout value by which the joint velocities must be obtained from the simulated cobot, specified in seconds.

Data Types: double

Output Arguments

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Current joint velocities, returned as a 1-by-6 vector of angular velocity in rad/s (radians per second).

Data Types: double

Extended Capabilities

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

Version History

Introduced in R2022a

See Also

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