AbbClient.send_and_wait
- AbbClient.send_and_wait(instruction, timeout=None)[source]
Send instruction and wait for feedback.
This is a blocking call, it will only return once the robot sends the requested feedback. If
feedback_levelof theinstructionparameter is0, it will be automatically set to1.- Parameters:
- instruction
compas_fab.backends.ros.messages.ROSmsg ROS Message representing the instruction to send.
- timeout
int Timeout in seconds to wait before raising an exception. Optional.
- instruction
- Returns:
- object
Returns the feedback value that resulted from the execution of the instruction.
Examples
Send an instruction and wait for feedback from the robot. In the following example, the code will not continue until the robot has started to execute this instruction. On move instructions, a
Zone.FINEcan be used to make sure the motion planner has executed the instruction fully:# Move robot to start position done = abb.send_and_wait(rrc.MoveToJoints(robot_joints_start_position, external_axis_dummy, 1000, rrc.Zone.FINE))