Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-09 17:40:47 +02:00
Code Releases Activity

Added a README to the ur_controllers package

Browse Source
This commit is contained in:
Felix Mauch
2019-09-20 07:01:27 +02:00
committed by Lea Steffen
parent 58054b2467
commit 29b390c915
1 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
ur_controllers/README.md Normal file
View File

@@ -0,0 +1,12 @@
# ur_controllers
This package contains controllers and hardware interface for ROS control that are special to the UR
robot family. Currently this contains
* A **speed_scaling_interface** to read the value of the current speed scaling into controllers.
* A **scaled_joint_command_interface** that provides access to joint values and commands in
combination with the speed scaling value.
* A **speed_scaling_state_controller** that publishes the current value of the speed scaling
to a topic interface.
* A **scaled_joint_trajectory_controller** that is similar to the *joint_trajectory_controller*,
but it uses the speed scaling reported by the robot to reduce progress in the trajectory.