https://es.mathworks.com/help/robotics/urseries/ref/getendeffectorvelocity.html
getEndEffectorVelocity - Get current end-effector velocities from the robot - MATLAB
This MATLAB function waits for the next published joint state from the Universal Robots cobot connected through ROS interface, and returns current end-effector...
get currentend effectorfrom thevelocitiesrobot