ur_controllers

This package contains controllers and hardware interface for ROS control that are special to the UR robot family. Currently this contains

• A speed_scaling_interface to read the value of the current speed scaling into controllers.
• A scaled_joint_command_interface that provides access to joint values and commands in combination with the speed scaling value.
• A speed_scaling_state_controller that publishes the current value of the speed scaling to a topic interface.
• 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 progress in the trajectory.

About this package

This package contains controllers not being available in the default ROS-Control set. They are created to support more features offered by the UR robot family. Any of these controllers are example implementations for certain features and are intended to be generalized and merged into the default ROS-Control controller set at some future point.