Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-05-17 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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:
and
.
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-05-17 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
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:
and
.
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.