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Please refer to the discussions about "receiving script statement output remotely" (and similar topics) on the UniversalRobots/Universal_Robots_ROS_Driver issue tracker. Specifically UniversalRobots/Universal_Robots_ROS_Driver#171. Errors (due to syntax errors) might be possible, but the actual return values do not appear to be sent back by the controller, so what you ask would seem to be impossible (without additional scripting).

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