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updated feature list to current development

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Felix Mauch
2019-08-08 17:06:59 +02:00
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ur_rtde_driver/doc/features.md
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@@ -11,26 +11,23 @@
| continue trajectories after EM-Stop resume | - | yes |
| continue trajectories after protective stop | - | yes |
| panel interaction in between possible | no<sup>1</sup> | 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 | no<sup>2</sup> | yes |
| use ROS as drop-in for TP-programs | - | planned<sup>3</sup> |
| 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)<sup>4</sup> |
| Reconnect on a disconnected robot | yes | in progress |
| send custom script commands to robot | yes | yes |
| ROS 2 support | ? | (planned)<sup>3</sup> |
| Reconnect on a disconnected robot | yes | yes |
<sup>1</sup> 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.
<sup>2</sup> In velocity mode this is implicitly given.
<sup>3</sup> Currently, you can use ROS as the last element in a program, but handing back control
to the TP is not yet implemented.
<sup>4</sup> There is no specific plan to do this inside of the first driver development. However,
<sup>3</sup> 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.