From 9b3ba1b2f22e533a58620f7c61dd20cc1c90830a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 18 Mar 2025 09:07:45 +0100 Subject: [PATCH 1/2] Fix links to forward command controllers Velocity and position was mixed up in the links. --- ur_robot_driver/doc/usage/controllers.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_robot_driver/doc/usage/controllers.rst b/ur_robot_driver/doc/usage/controllers.rst index 67c3a4926..c62ad0c8c 100644 --- a/ur_robot_driver/doc/usage/controllers.rst +++ b/ur_robot_driver/doc/usage/controllers.rst @@ -96,7 +96,7 @@ Allows setting I/O ports, controlling some UR-specific functionality and publish forward_velocity_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Type: `velocity_controllers/JointGroupVelocityController `_ +Type: `velocity_controllers/JointGroupVelocityController `_ Allows setting target joint positions directly. The robot tries to reach the target position as fast as possible. The user is therefore responsible for sending commands that are achievable. This @@ -105,7 +105,7 @@ controller is particularly useful when doing servoing such as ``moveit_servo``. forward_position_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Type: `position_controllers/JointGroupPositionController `_ +Type: `position_controllers/JointGroupPositionController `_ Allows setting target joint velocities directly. The user is responsible for sending commands that are achievable. This controller is particularly useful when doing servoing such as From 969a8eb86e0b0d356bf1f55129abcbb92405f13a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 18 Mar 2025 09:11:40 +0100 Subject: [PATCH 2/2] Add github url to usage/controllers.rst --- ur_robot_driver/doc/usage/controllers.rst | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ur_robot_driver/doc/usage/controllers.rst b/ur_robot_driver/doc/usage/controllers.rst index c62ad0c8c..a9ad0b0d4 100644 --- a/ur_robot_driver/doc/usage/controllers.rst +++ b/ur_robot_driver/doc/usage/controllers.rst @@ -1,3 +1,5 @@ +:github_url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/doc/usage/controllers.rst + Controllers ===========