scaled_controllers repository

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2021-06-24
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)

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 CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git
VCS Type git
VCS Version main
Last Updated 2021-06-24
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)

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 CONTRIBUTING.md found.