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.
* **Factory calibration** of the robot inside ROS to reach Cartesian
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
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.