Feature list and roadmap
Feature |
ROS2 Driver |
|---|---|
joint-position-based control |
yes |
scaled joint-position-based control |
yes |
joint-velocity-based control |
yes1 |
Cartesian position-based control |
no |
Cartesian twist-based control |
no |
Trajectory forwarding for execution on robot |
no |
reporting of tcp wrench |
yes |
pausing of programs |
yes |
continue trajectories after EM-Stop resume |
yes |
continue trajectories after protective stop |
yes |
panel interaction in between possible |
yes |
get and set IO states |
yes |
use tool communication forwarder on e-series |
yes |
use the driver without a teach pendant necessary |
yes |
support of CB1 and CB2 robots |
no |
trajectory extrapolation on robot on missing packages |
yes |
use ROS as drop-in for TP-programs |
yes |
headless mode |
yes |
extract calibration from robot |
yes |
send custom script commands to robot |
no |
Reconnect on a disconnected robot |
yes |
1 Velocity-based joint control is implemented in the driver, but the current version of ros2_control do not yet support Velocity-based joint trajectory control