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getCartesianPose

Get current end-effector pose from the robot

Since R2022a

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Syntax

pose=getCartesianPose(ur)
pose=getCartesianPose(ur,timeout)

Description

pose=getCartesianPose(ur) waits for the next published joint state from the Universal Robots cobot connected through ROS interface, and returns current end-effector pose. If no message is received in 5 seconds, the function displays an error.

example

pose=getCartesianPose(ur,timeout) allows you to specify a timeout for obtaining the current end-effector pose from the Universal Robots cobot connected through ROS interface. If no message is received within the specified time, the function displays an error.

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 the current end-effector pose of the cobot, representing the current position and orientation of the end-effector.

pose = getCartesianPose(ur);
pose = 1×6    
    3.1415    0.5176   -1.5708   -0.2435   -0.2329    0.7613

Specify a timeout of 10 seconds while obtaining current end-effector pose of the cobot.

jointangles = getCartesianPose(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 end-effector pose must be obtained from the simulated cobot, specified in seconds.

Data Types: double

Output Arguments

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Current end effector pose, returned as a 1-by-6 vector consisting of the three orientation and position values (represented as [theta(z) theta(y) theta(x) x y z]) in radians and meters respectively.

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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