README

ur_controllers

This package contains controllers and hardware interface for ros2_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 execution speed as reported by the robot to a topic interface. Values are floating points between 0 and 1.

• 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.

For more details please see doc/index.rst