Fixed a bug related to malformed RT messages in 3.0.

updated readme

README.md

@@ -16,5 +16,32 @@ The driver is designed to be a drop-in replacement of the ur\_driver package. It
 
 Just use the modified launch files included in this package instead of those in ur\_bringup. Everything else should work as usual.
 
+---
+
+__Improvements__
+
+
+The driver exposes the same functionality as the previous ur\_driver:
+*Action interface on _/follow\_joint\_trajectory_ for seamless integration with MoveIt
+*Publishes robot joint state on _/joint\_states_
+*Publishes TCP force on state on _/wrench_
+*Publishes IO states state on _/io\_states_
+*Service call to set outputs and payload (Note: I am not sure if setting the payload actually works, as the robot GUI does not update. This is also true for the old ur\_driver  )
+
+Besides this, the driver subscribes to two new topics:
+*/ur\_driver/URScript : takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Inteded for sending movel/movej commands directly to the robot
+*/joint\_speed : takes messages of type trajectory\_msgs/JointTrajectory, parses the first JointTracetoryPoint and sends the specified joint speeds and accelerations to the robot. Remember to set values for all 6 joints. Ignores the field joint\_names, so set the values in the correct order.
+
+
+This driver is written in c++, which should make it possible to integrate it with ros_control. If you fell like undertaking this task, please dive right in. I don't have the posibility to do this.
+
+No script is sent to the robot. This means that the teach pendant can be used to move the robot around while the driver is running.
+
+---
+Should be compatible with all robots and control boxes with the newest firmware.
+Tested with:
+*Simulated UR3 running 3.1.18024
+*Real UR10 with CB2 running 1.8.14035
+*Real UR5 with CB2 running 1.8.14035