Update feature list (backport of #1372) (#1374)

Author: mergify[bot]

ur_calibration/doc/index.rst

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

ur_robot_driver/doc/features.rst

@@ -13,15 +13,16 @@ Feature list and roadmap
    * - joint-position-based control
      - yes
    * - scaled joint-position-based control
-     - yes
+     - yes (`scaled_jtc
+       <https://docs.ros.org/en/humble/p/ur_controllers/doc/index.html#ur-controlers-scaledjointtrajectorycontroller>`_)
    * - 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
-     - no
+     - yes (`passthrough_trajectory_controller <https://docs.ros.org/en/humble/p/ur_controllers/doc/index.html#ur-controllers-passthroughtrajectorycontroller>`_)
    * - reporting of tcp wrench
      - yes
    * - pausing of programs
@@ -33,9 +34,9 @@ Feature list and roadmap
    * - panel interaction in between possible
      - yes
    * - get and set IO states
-     - yes
+     - yes (`io_and_status_controller <https://docs.ros.org/en/humble/p/ur_controllers/doc/index.html#ur-controllers-gpiocontroller>`_)
    * - 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 +46,20 @@ Feature list and roadmap
    * - use ROS as drop-in for TP-programs
      - yes
    * - headless mode
-     - yes
+     - yes (`headless_mode
+       <https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/operation_modes.html#headless-mode>`_)
    * - extract calibration from robot
-     - yes
+     - yes (`ur_calibration <https://docs.ros.org/en/humble/p/ur_calibration/doc/index.html>`_)
    * - send custom script commands to robot
-     - no
+     - yes (`io_and_status_controller`_)
    * - Reconnect on a disconnected robot
      - yes
+   * - Freedrive Mode
+     - yes (`freedrive_mode_controller
+       <https://docs.ros.org/en/humble/p/ur_controllers/doc/index.html#ur-controllers-forcemodecontroller>`_)
+   * - Tool Contact mode
+     - yes (`tool_contact_controller <https://docs.ros.org/en/humble/p/ur_controllers/doc/index.html#ur-controllers-toolcontactcontroller>`_)
+   * - Force Mode
+     - yes (`force_mode_controller <https://docs.ros.org/en/humble/p/ur_controllers/doc/index.html#ur-controllers-freedrivemodecontroller>`_)
 
-
-: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
+: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.