Obbart/universal_robots_ros_driver
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Linked controller_stopper and ur_controllers from ur_rtde_driver's README

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Felix Mauch
2019-10-06 15:31:22 +02:00
committed by Tristan Schnell
parent 7008da0816
commit e12fcaf23b
1 changed files with 7 additions and 1 deletions
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8
ur_rtde_driver/README.md
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@@ -23,7 +23,8 @@ available.
To actually control the robot, a program node from the **External Control** URCap must be running on 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 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. 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 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 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. 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`**