# ur_controllers

This package contains controllers and hardware interface for ROS control that are special to the UR
robot family. Currently this contains

  * A **speed_scaling_interface** to read the value of the current speed scaling into controllers.
  * A **scaled_joint_command_interface** that provides access to joint values and commands in 
  combination with the speed scaling value.
  * A **speed_scaling_state_controller** that publishes the current value of the speed scaling
  to a topic interface.
  * A **scaled_joint_trajectory_controller** that is similar to the *joint_trajectory_controller*,
  but it uses the speed scaling reported by the robot to reduce progress in the trajectory.

## About this package
This package contains controllers not being available in the default ROS-Control set. They are
created to support more features offered by the UR robot family. Any of these controllers are
example implementations for certain features and are intended to be generalized and merged
into the default ROS-Control controller set at some future point.