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19 lines
1.0 KiB
Markdown
19 lines
1.0 KiB
Markdown
# ur_controllers
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This package contains controllers and hardware interface for ROS control that are special to the UR
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robot family. Currently this contains
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* A **speed_scaling_interface** to read the value of the current speed scaling into controllers.
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* A **scaled_joint_command_interface** that provides access to joint values and commands in
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combination with the speed scaling value.
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* A **speed_scaling_state_controller** that publishes the current value of the speed scaling
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to a topic interface.
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* A **scaled_joint_trajectory_controller** that is similar to the *joint_trajectory_controller*,
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but it uses the speed scaling reported by the robot to reduce progress in the trajectory.
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## About this package
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This package contains controllers not being available in the default ROS-Control set. They are
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created to support more features offered by the UR robot family. Any of these controllers are
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example implementations for certain features and are intended to be generalized and merged
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into the default ROS-Control controller set at some future point.
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