scaled_controllers: scaled_joint_trajectory_controller | speed_scaling_interface | speed_scaling_state_controller
Package Summary
Released
Documented
ROS controller providing reading the state of speed scaling on the robot
- Maintainer status: developed
- Maintainer: Felix Exner <exner AT fzi DOT de>
- Author:
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git (branch: main)
scaled_controllers: scaled_joint_trajectory_controller | speed_scaling_interface | speed_scaling_state_controller
Package Summary
Released
Documented
ROS controller providing reading the state of speed scaling on the robot
- Maintainer status: developed
- Maintainer: Felix Exner <exner AT fzi DOT de>
- Author:
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git (branch: main)
This controller publishes the current actual execution speed as reported by the robot. Values are floating points between 0 and 1.
scaled_controllers/SpeedScalingStateController
In the `ur_robot_driver` this is calculated by multiplying the two RTDE data fields speed_scaling (which should be equal to the value shown by the speed slider position on the teach pendant) and target_speed_fraction (Which is the fraction to which execution gets slowed down by the controller).
Filling this with the appropriate date is part of the robot hardware interface implementation.