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+# Feature comparison and roadmap
+
+| Feature                                               | ur_modern_driver | this_driver           |
+| ---                                                   | ---              | ---                   |
+| position-based control                                | yes              | yes                   |
+| scaled position-based control                         | -                | yes                   |
+| velocity-based control                                | yes              | planned               |
+| reporting of tcp wrench                               | yes              | yes                   |
+| reporting of tcp wrench in tcp link                   | -                | yes                   |
+| pausing of programs                                   | -                | yes                   |
+| continue trajectories after EM-Stop resume            | -                | yes                   |
+| continue trajectories after protective stop           | -                | yes                   |
+| panel interaction in between possible                 | no<sup>1</sup>   | yes                   |
+| get and set IO states                                 | yes              | planned               |
+| use tool communication on e-series                    | -                | yes                   |
+| use the driver without a teach pendant necessary      | -                | planned               |
+| support of CB2 robots                                 | yes              | -                     |
+| trajectory extrapolation on robot on missing packages | no<sup>2</sup>   | yes                   |
+| use ROS as drop-in for TP-programs                    | -                | planned<sup>3</sup>   |
+| extract calibration from robot                        | -                | yes                   |
+| send custom script commands to robot                  | yes              | planned               |
+| ROS 2 support                                         | ?                | (planned)<sup>4</sup> |
+| Reconnect on a disconnected robot                     | yes              | in progress           |
+
+<sup>1</sup> Depending on the mode the driver is running the panel won't react or using the panel
+will stop the program without notifying the ROS user.
+
+<sup>2</sup> In velocity mode this is implicitly given.
+
+<sup>3</sup> Currently, you can use ROS as the last element in a program, but handing back control
+to the TP is not yet implemented.
+
+<sup>4</sup> There is no specific plan to do this inside of the first driver development. However,
+it is structured in a way so that a ROS2 driver should be developed as easy as possible by keeping
+as much as possible in a ros-independent library.
+
+