From 29b390c9151eb5661ae24761dfa09e98dab3eea1 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Fri, 20 Sep 2019 07:01:27 +0200
Subject: [PATCH] Added a README to the ur_controllers package

---
 ur_controllers/README.md | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 ur_controllers/README.md

diff --git a/ur_controllers/README.md b/ur_controllers/README.md
new file mode 100644
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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.