ur_controllers
  • Links
    • Rosindex
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  • C++ API
    • Class Hierarchy
    • File Hierarchy
    • Full C++ API
      • Namespaces
        • Namespace controller_interface
        • 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 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 speed_scaling_state_broadcaster.hpp
        • File tool_contact_controller.hpp
        • File ur_configuration_controller.hpp
  • Standard Documents
    • README
      • ur_controllers
    • PACKAGE
    • CHANGELOG
      • Changelog for package ur_controllers
        • 5.0.0 (2026-04-09)
        • 4.5.0 (2026-01-13)
        • 4.4.0 (2025-11-13)
        • 4.3.0 (2025-10-14)
        • 4.2.0 (2025-09-16)
        • 4.1.0 (2025-07-29)
        • 4.0.3 (2025-06-16)
        • 4.0.2 (2025-06-13)
        • 4.0.1 (2025-05-28)
        • 4.0.0 (2025-05-20)
        • 3.2.1 (2025-04-11)
        • 3.2.0 (2025-04-10)
        • 3.1.1 (2025-03-17)
        • 3.1.0 (2025-03-05)
        • 3.0.2 (2025-01-21)
        • 3.0.1 (2024-12-30)
        • 3.0.0 (2024-12-18)
        • 2.4.13 (2024-10-28)
        • 2.4.12 (2024-10-14)
        • 2.4.11 (2024-10-10)
        • 2.4.10 (2024-09-11)
        • 2.4.9 (2024-08-09)
        • 2.4.8 (2024-07-01)
        • 2.4.7 (2024-06-19)
        • 2.4.6 (2024-06-17)
        • 2.4.5 (2024-05-16)
        • 2.4.4 (2024-04-04)
        • 2.4.3 (2024-02-02)
        • 2.4.2 (2023-11-23)
        • 2.4.1 (2023-09-21)
        • 2.4.0 (2023-08-28)
        • 2.3.2 (2023-06-02)
        • 2.3.1 (2023-03-16)
        • 2.3.0 (2023-03-02)
        • 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
  • ur_controllers
  • View page source

ur_controllers

Provides controllers that use the speed scaling interface of Universal Robots.

  • Links
    • Rosindex
    • Bugtracker
    • Repository
    • Website
  • C++ API
    • Class Hierarchy
    • File Hierarchy
    • Full C++ API
  • Standard Documents
    • README
    • PACKAGE
    • CHANGELOG
  • 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

README

ur_controllers

This package contains controllers and hardware interface for ros2_control that are special to the UR robot family.

For more details please see doc/index.rst

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