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Merged
merged 4 commits into from
Jan 10, 2025
Merged

Add information about which driver features dont work with mock hardw… #1227

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643582d
Add information about which driver features dont work with mock hardw…
URJala Jan 9, 2025
07bc0da
Update ur_robot_driver/doc/usage/simulation.rst
urfeex Jan 10, 2025
2c2a81d
Fix rst formatting
urfeex Jan 10, 2025
ecf6233
Update link to secondary program documentation
urfeex Jan 10, 2025
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2 changes: 1 addition & 1 deletion ur_robot_driver/README.md
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Expand Up @@ -33,7 +33,7 @@ request.
**Custom script snippets** can be sent to the robot on a topic basis. By default, they will
interrupt other programs (such as the one controlling the robot). For a certain subset of functions,
it is however possible to send them as secondary programs. See [UR
documentation](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/secondary-program-17257/)
documentation](https://www.universal-robots.com/articles/ur/programming/secondary-program/)
on details.
<br/>
**Note to e-Series users:**
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8 changes: 8 additions & 0 deletions ur_robot_driver/doc/usage/simulation.rst
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Expand Up @@ -43,3 +43,11 @@ environment for testing of "piping" of hardware and controllers, as well as test
descriptions. For more details see `ros2_control documentation
<https://control.ros.org/rolling/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html>`_
for more details.

.. note::
Some driver functionalities currently don't work with mock hardware:

* The TCP pose broadcaster does not work.
* The passthrough trajectory controller does not function when calling the follow joint trajectory action.
* The force mode controller also does not respond when trying to start force mode.
* The GPIO controller cannot verify that it has changed the state of an I/O pin, so it will report a failure when trying to set an I/O pin.
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