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+# 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.