mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
13 lines
705 B
Markdown
13 lines
705 B
Markdown
# 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.
|