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_level
of theinstruction
parameter 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.
- 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.FINE
can 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))