Obbart/universal_robots_ros_driver
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Felix Mauch
2019-06-17 08:57:52 +02:00
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# UR_RTDE_Driver
This repository contains the new **ur_rtde_driver** and a couple of helper packages, such as:
* **controller_stopper**: A small external tool that stops and restarts ros-controllers based on
the robot's state. This can be helpful, when the robot is in a state, where it won't accept
commands sent from ROS.
* **ur_calibration**: Package around extracting and converting a robot's factory calibration
information to make it usable by the robot_description.
* **ur_controllers**: Controllers introduced with this driver, such as speed-scaling-aware
controllers.
* **ur_rtde_driver**: The actual driver package.
Please see the individual packages for further information. Especially the [README of the
ur_rtde_driver](ur_rtde_driver/README.md) serves as an entry point to get everything running.