scaled_controllers: scaled_joint_trajectory_controller | speed_scaling_interface | speed_scaling_state_controller

Package Summary

scaled controllers metapackage

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.

Wiki: scaled_controllers (last edited 2021-06-24 10:01:43 by FelixMauch)