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.