Command robot to move to joint configuration and wait for the motion to complete
commands the Universal Robots cobot connected through ROS interface and waits for the robot
to complete the motion, based on the specified values of joint configuration, maximum
duration, and timeout. The method commands the robot to complete the motion from current
joint configuration to the desired joint configuration within the duration, and returns the
goal state and the result. If the server does not return the result with in the additional
timeout period that you specified, the function displays an error.
state] = sendJointConfigurationAndWait(
Command the Cobot to Desired Joint Configuration and Wait for Result
Connect to a physical or simulated cobot at IP address
192.168.2.112 on the ROS network.
ur = universalrobot('192.168.2.112');
Command the cobot by providing the desired joint configuration and by specifying the time to reach the configuration as 7 seconds, and a timeout (to display an error message otherwise) as 8 seconds.
jointWaypoints = [0 -90 0 -90 0 0]*pi/180; [result,state] = sendJointConfigurationAndWait(ur,jointWaypoints,EndTime=7,TimeOut=8);
result = 1 state = 'succeeded'
ur — Connection to Universal Robots cobot
Connection to physical or simulated cobot from Universal Robots, specified as a
jointconfig — Desired joint configuration
Desired joint configuration of the physical or simulated cobot, represented as a 1-by-6 numeric vector, in the range [-pi,pi].
endtime — Duration to complete the motion
scalar in seconds
Maximum duration by which the physical or simulated cobot must try to complete the motion to reach the desired joint configuration, specified in seconds.
timeout — Timeout period
scalar in seconds
Timeout period for receiving a result message, specified as a scalar in seconds. If the client does not receive a new result message in that time period, an error is displayed.
Minimum value of
endtime + 2
result — Motion status of Universal Robots cobot
logical scalar |
Motion status of physical or simulated cobot from Universal Robots, specified as a
state — Final goal state
Final goal state of the physical or 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.
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