scaled_controllers: scaled_joint_trajectory_controller | speed_scaling_interface | speed_scaling_state_controller

Package Summary

ROS controller providing reading the state of speed scaling on the robot

This controller publishes the current actual execution speed as reported by the robot. Values are floating points between 0 and 1.


In the `ur_robot_driver` this is calculated by multiplying the two RTDE data fields speed_scaling (which should be equal to the value shown by the speed slider position on the teach pendant) and target_speed_fraction (Which is the fraction to which execution gets slowed down by the controller).

Filling this with the appropriate date is part of the robot hardware interface implementation.

Wiki: speed_scaling_state_controller (last edited 2021-06-24 10:57:30 by FelixMauch)