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getJointConfiguration

Get current joint configuration from the robot

Description

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

example

jointangles=getJointConfiguration(ur,timeout) allows you to specify a timeout for obtaining the current joint configuration 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 at IP address 192.168.2.112 on the ROS network.

ur = universalrobot('192.168.2.112');

Get current joint configuration of the cobot.

jointangles = getJointConfiguration(ur);
jointAngles = 1×6    
    0.0001   -1.9552    1.6748   -2.5979   -0.0001    0.2542

Specify a timeout of 10 seconds while obtaining current joint configuration of the cobot.

jointangles = getJointConfiguration(ur,10);

Input Arguments

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

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

Data Types: double

Output Arguments

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Current joint configuration, returned as a 1-by-6 vector of angles in radians.

Data Types: char

Extended Capabilities

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

Version History

Introduced in R2022a