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

Renamed the driver to ur_robot_driver

Browse Source
This commit is contained in:
Felix Mauch
2019-10-02 13:58:56 +02:00
parent 5138ecab82
commit 745b2c5fb7
117 changed files with 208 additions and 208 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
ur_robot_driver/doc/features.md Normal file
View File

@@ -0,0 +1,34 @@
# 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 | yes |
| 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 | - | yes |
| extract calibration from robot | - | yes |
| send custom script commands to robot | yes | yes |
| ROS 2 support | ? | (planned)<sup>3</sup> |
| Reconnect on a disconnected robot | yes | yes |
<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> 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.