From e12fcaf23b4cb5e1867ca27b2e3be12ece9c4877 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Sun, 6 Oct 2019 15:31:22 +0200 Subject: [PATCH] Linked controller_stopper and ur_controllers from ur_rtde_driver's README --- ur_rtde_driver/README.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/ur_rtde_driver/README.md b/ur_rtde_driver/README.md index 0c4e92a..4272fc1 100644 --- a/ur_rtde_driver/README.md +++ b/ur_rtde_driver/README.md @@ -23,7 +23,8 @@ available. To actually control the robot, a program node from the **External Control** URCap must be running on the robot interpreting commands sent from an external source. When this program is not running, no -controllers moving the robot around will be available. Please see the [initial setup +controllers moving the robot around will be available, which is handled by the +[controller_stopper](../controller_stopper/README.md). Please see the [initial setup guide](../README.md) on how to install and start this on the robot. The URScript that will be running on the robot is requested by the **External Control** program node @@ -48,3 +49,8 @@ For using the **tool communication interface** on e-Series robots, a `socat` scr forward the robot's tool communication interface to a local device on the ROS PC. See [the tool communication setup guide](doc/setup_tool_communication.md) for details. +This driver is using [ROS-Control](https://wiki.ros.org/ros_control) for any control statements. +Therefor, it can be used with all position-based controllers available in ROS-Control. However, we +recommend using the controllers from the `ur_controllers` package. See it's +[documentation](../ur_controllers/README.md) for details. **Note: Speed scaling support will only be +available using the controllers from `ur_controllers`**