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   .

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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.