From a1a6ec16809c11041310255f155bfcadbca48f5a Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 8 Aug 2019 17:06:59 +0200 Subject: [PATCH] updated feature list to current development --- ur_rtde_driver/doc/features.md | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/ur_rtde_driver/doc/features.md b/ur_rtde_driver/doc/features.md index 75f7d01..db13207 100644 --- a/ur_rtde_driver/doc/features.md +++ b/ur_rtde_driver/doc/features.md @@ -11,26 +11,23 @@ | continue trajectories after EM-Stop resume | - | yes | | continue trajectories after protective stop | - | yes | | panel interaction in between possible | no1 | yes | -| get and set IO states | yes | planned | +| 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 | no2 | yes | -| use ROS as drop-in for TP-programs | - | planned3 | +| use ROS as drop-in for TP-programs | - | yes | | extract calibration from robot | - | yes | -| send custom script commands to robot | yes | planned | -| ROS 2 support | ? | (planned)4 | -| Reconnect on a disconnected robot | yes | in progress | +| send custom script commands to robot | yes | yes | +| ROS 2 support | ? | (planned)3 | +| Reconnect on a disconnected robot | yes | yes | 1 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. 2 In velocity mode this is implicitly given. -3 Currently, you can use ROS as the last element in a program, but handing back control -to the TP is not yet implemented. - -4 There is no specific plan to do this inside of the first driver development. However, +3 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.