Obbart/universal_robots_ros_driver
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Update README about controller topics

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Felix Mauch
2019-06-28 11:59:29 +02:00
parent 20eed217a9 e7b1ea5b33
commit c166033952
1 changed files with 21 additions and 3 deletions
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@@ -26,10 +26,13 @@ Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_ro
control from ROS side. Expect this to come in future releases. control from ROS side. Expect this to come in future releases.
* Use the robot's **speed-scaling**. When speed scaling is active due to safety constraints or the * Use the robot's **speed-scaling**. When speed scaling is active due to safety constraints or the
speed slider is used, this gets correctly handled on the ROS side, as well slowing down speed slider is used, this gets correctly handled on the ROS side, as well slowing down
trajectory execution accordingly. **Note**: Due to the speed scaling interface, other controllers trajectory execution accordingly.<br/>
than the scaled controllers provided, currently cannot be used. We plan to change this in **Note**: Other ros-controllers based on a position interface
upcoming releases. can be used with this driver, but may behave wrong if the speed slider isn't set to 100% or if
speed scaling slows down the robot. Also, the pausing function can only be used, if the default
scaled trajectory controller is used.
## Contents
This repository contains the new **ur_rtde_driver** and a couple of helper packages, such as: 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 * **controller_stopper**: A small external tool that stops and restarts ros-controllers based on
@@ -191,3 +194,18 @@ Once the robot driver is started, load the previously generated program on the r
execute it. From that moment on the robot is fully functional. You can make use of the pause execute it. From that moment on the robot is fully functional. You can make use of the pause
function or even stop the program. Simply press the play button again and the ROS driver will function or even stop the program. Simply press the play button again and the ROS driver will
reconnect. reconnect.
#### Use the action server
After starting up the robot as described in the last section a scaled position based trajectory
controller is started. It's action-server is located at
```bash
/scaled_pos_traj_controller/follow_joint_trajectory
```
Use this with any client interface such as MoveIt! or simply the joint_trajectory_controller rqt
gui:
```
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
```