scaled_controllers: scaled_joint_trajectory_controller | speed_scaling_interface | speed_scaling_state_controller
Package Summary
Released
Documented
scaled controllers metapackage
- Maintainer status: developed
- Maintainer: Felix Exner <exner AT fzi DOT de>, Stefan Scherzinger <scherzin AT fzi DOT de>
- Author:
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git (branch: main)
scaled_controllers: scaled_joint_trajectory_controller | speed_scaling_interface | speed_scaling_state_controller
Package Summary
Released
Documented
scaled controllers metapackage
- Maintainer status: developed
- Maintainer: Felix Exner <exner AT fzi DOT de>, Stefan Scherzinger <scherzin AT fzi DOT de>
- Author:
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git (branch: main)
This repository contains controllers and hardware interface for ros_control that are leveraging an on-the-fly speed scaling mechanism. For example, they are used by the ur_robot_driver.
For this, the following subpackages exist:
A speed_scaling_interface to read the value of the current speed scaling into controllers.
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 execution speed of the trajectory.
