Update feature list (#1372)

* Update feature list

* Add references to feature list

(cherry picked from commit c8a44a6)

# Conflicts:
#	ur_robot_driver/doc/features.rst

Author: urfeex

ur_calibration/doc/index.rst

@@ -1,4 +1,6 @@
 
+.. _ur_calibration:
+
 ur_calibration
 ==============
 

ur_robot_driver/doc/features.rst

@@ -13,15 +13,19 @@ Feature list and roadmap
    * - joint-position-based control
      - yes
    * - scaled joint-position-based control
-     - yes
+     - yes (:ref:`scaled_jtc`)
    * - joint-velocity-based control
      - yes\ :raw-html-m2r:`<sup>1</sup>`
    * - Cartesian position-based control
      - no
    * - Cartesian twist-based control
      - no
    * - Trajectory forwarding for execution on robot
+<<<<<<< HEAD
      - no
+=======
+     - yes (:ref:`passthrough_trajectory_controller`)
+>>>>>>> c8a44a6 (Update feature list (#1372))
    * - reporting of tcp wrench
      - yes
    * - pausing of programs
@@ -33,9 +37,9 @@ Feature list and roadmap
    * - panel interaction in between possible
      - yes
    * - get and set IO states
-     - yes
+     - yes (:ref:`io_and_status_controller`)
    * - use `tool communication forwarder <https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap>`_ on e-series
-     - yes
+     - yes (:ref:`setup-tool-communication`)
    * - use the driver without a teach pendant necessary
      - yes
    * - support of CB1 and CB2 robots
@@ -45,13 +49,27 @@ Feature list and roadmap
    * - use ROS as drop-in for TP-programs
      - yes
    * - headless mode
-     - yes
+     - yes (:ref:`headless_mode`)
    * - extract calibration from robot
-     - yes
+     - yes (:ref:`ur_calibration`)
    * - send custom script commands to robot
+<<<<<<< HEAD
      - no
    * - Reconnect on a disconnected robot
      - yes
 
 
 :raw-html-m2r:`<sup>1</sup>` Velocity-based joint control is implemented in the driver, but the current version of ros2_control do not yet support Velocity-based joint trajectory control
+=======
+     - yes (:ref:`io_and_status_controller`)
+   * - Reconnect on a disconnected robot
+     - yes
+   * - Freedrive Mode
+     - yes (:ref:`freedrive_mode_controller`)
+   * - Tool Contact mode
+     - yes (:ref:`tool_contact_controller`)
+   * - Force Mode
+     - yes (:ref:`force_mode_controller`)
+
+:raw-html-m2r:`<sup>1</sup>` Velocity-based joint control is implemented in the driver, the velocity-based joint trajectory controller would need tweaking of the gain parameters for each model.
+>>>>>>> c8a44a6 (Update feature list (#1372))