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getMotionStatus

Get current motion status of the robot

Description

example

[result,state] = getMotionStatus(ur) returns the goal state of the ROS action client connected through ROS interface.

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 the current motion status of the cobot and the goal state.

[result,state] = getMotionStatus(ur);

Input Arguments

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

Output Arguments

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Motion status of simulated cobot from Universal Robots, specified as a logical scalar. result is 1 if state is succeeded.

Data Types: logical

Final goal state of the simulated cobot, returned as one of the following:

  • 'pending' — Goal was received, but has not yet been accepted or rejected.

  • 'active' — Goal was accepted and is running on the server.

  • 'succeeded' — Goal executed successfully.

  • 'preempted' — An action client canceled the goal before it finished executing.

  • 'rejected' — The goal was not accepted after being in the 'pending' state. The action server typically triggers this status.

  • 'aborted' — The goal was aborted before it finished executing. The action server typically aborts a goal.

  • 'recalled' — A client canceled the goal while it was in the 'pending' state.

  • 'lost' — An internal error occurred in the action client.

Data Types: char

Extended Capabilities

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

Version History

Introduced in R2022a