ur_controllers: Humble
Links
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Repository
C++ API
Class Hierarchy
File Hierarchy
Full C++ API
Namespaces
Namespace controller_interface
Namespace joint_trajectory_controller
Namespace std::chrono_literals
Namespace ur_controllers
Namespace ur_controllers::friction_model
Classes and Structs
Struct ForceModeParameters
Struct FrictionModelParameters
Struct VersionInformation
Class ForceModeController
Class FreedriveModeController
Class FrictionModelController
Class GPIOController
Class PassthroughTrajectoryController
Class ScaledJointTrajectoryController
Class SpeedScalingStateBroadcaster
Class ToolContactController
Class URConfigurationController
Enums
Enum CommandInterfaces
Enum CommandInterfaces
Enum CommandInterfaces
Enum CommandInterfaces
Enum StateInterfaces
Enum StateInterfaces
Enum StateInterfaces
Variables
Variable ur_controllers::TRANSFER_STATE_DONE
Variable ur_controllers::TRANSFER_STATE_IDLE
Variable ur_controllers::TRANSFER_STATE_IN_MOTION
Variable ur_controllers::TRANSFER_STATE_NEW_TRAJECTORY
Variable ur_controllers::TRANSFER_STATE_TRANSFER_DONE
Variable ur_controllers::TRANSFER_STATE_TRANSFERRING
Variable ur_controllers::TRANSFER_STATE_WAITING_FOR_POINT
Directories
Directory include
Directory ur_controllers
Files
File force_mode_controller.hpp
File freedrive_mode_controller.hpp
File friction_model_controller.hpp
File gpio_controller.hpp
File passthrough_trajectory_controller.hpp
File scaled_joint_trajectory_controller.hpp
File speed_scaling_state_broadcaster.hpp
File tool_contact_controller.hpp
File ur_configuration_controller.hpp
Standard Documents
README
ur_controllers
About this package
Controller description
PACKAGE
CHANGELOG
Changelog for package ur_controllers
2.13.0 (2026-04-09)
2.12.0 (2026-01-13)
2.11.0 (2025-12-01)
2.10.0 (2025-10-23)
2.9.0 (2025-09-16)
2.8.1 (2025-06-11)
2.8.0 (2025-05-20)
2.7.0 (2025-04-10)
2.6.0 (2025-03-17)
2.5.2 (2025-01-21)
2.5.1 (2024-12-21)
2.5.0 (2024-12-18)
2.2.16 (2024-10-28)
2.2.15 (2024-07-26)
2.2.14 (2024-07-01)
2.2.13 (2024-06-17)
2.2.12 (2024-05-16)
2.2.11 (2024-04-08)
2.2.10 (2024-01-03)
2.2.9 (2023-09-22)
2.2.8 (2023-06-26)
2.2.7 (2023-06-02)
2.2.6 (2022-11-28)
2.2.5 (2022-11-19)
2.2.4 (2022-10-07)
2.2.3 (2022-07-27)
2.2.2 (2022-07-19)
2.2.1 (2022-06-27)
2.2.0 (2022-06-20)
ROS Package Dependencies
angles
controller_interface
generate_parameter_library
geometry_msgs
hardware_interface
joint_trajectory_controller
lifecycle_msgs
pluginlib
rclcpp_lifecycle
rcutils
realtime_tools
std_msgs
std_srvs
tf2_geometry_msgs
tf2_ros
ur_dashboard_msgs
ur_msgs
control_msgs
trajectory_msgs
action_msgs
Documentation
ur_controllers
Index
ur_controllers: Humble
C++ API
Struct FrictionModelParameters
View page source
Struct FrictionModelParameters
Defined in
File friction_model_controller.hpp
Struct Documentation
struct
FrictionModelParameters
Public Members
std
::
array
<
double
,
6
>
viscous_scale
std
::
array
<
double
,
6
>
coulomb_scale