Obbart/universal_robots_ros_driver
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Added link to real-time setup guide

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Felix Mauch
2019-09-25 06:57:49 +02:00
parent 29b390c915
commit 7cd3ca0261
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README.md
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@@ -40,7 +40,9 @@ Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_ro
* Works for all **CB3 (with software version >= 3.7) and eSeries (software >= 5.1)** robots and uses the RTDE interface for communication, whenever possible. * Works for all **CB3 (with software version >= 3.7) and eSeries (software >= 5.1)** robots and uses the RTDE interface for communication, whenever possible.
* **Factory calibration** of the robot inside ROS to reach Cartesian * **Factory calibration** of the robot inside ROS to reach Cartesian
targets precisely. targets precisely.
* **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (TODO: Write tutorial on how to compile a realtime kernel for Ubuntu) * **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the
eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (See
the [Real-time setup guide](ur_rtde_driver/doc/real_time.md) on how to achieve this)
* Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running * Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running
on the robot that handles control commands sent from ROS side. With this, the robot can be on the robot that handles control commands sent from ROS side. With this, the robot can be
**paused**, **stopped** and **resumed** without restarting the ROS driver. **paused**, **stopped** and **resumed** without restarting the ROS driver.