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scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro jazzy showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro kilted showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro rolling showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro ardent showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro bouncy showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro crystal showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro eloquent showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro dashing showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro galactic showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro foxy showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro iron showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro lunar showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro jade showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro indigo showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

No version for distro hydro showing melodic. Known supported distros are highlighted in the buttons above.
Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

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Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING

Repo symbol

scaled_controllers repository

scaled_controllers scaled_joint_trajectory_controller speed_scaling_interface speed_scaling_state_controller

ROS Distro
noetic

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-06-02
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
scaled_controllers 0.1.1
scaled_joint_trajectory_controller 0.1.1
speed_scaling_interface 0.1.1
speed_scaling_state_controller 0.1.1

README

Scaled controllers

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.

Acknowledgement

Developed in collaboration between:

Universal Robots A/S   and   FZI Research Center for Information Technology.

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

CONTRIBUTING