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Fix links to forward command controllers #1303

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Merged
merged 2 commits into from
Mar 18, 2025
Merged

Fix links to forward command controllers #1303

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9b3ba1b
Fix links to forward command controllers
urfeex Mar 18, 2025
969a8eb
Add github url to usage/controllers.rst
urfeex Mar 18, 2025
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6 changes: 4 additions & 2 deletions ur_robot_driver/doc/usage/controllers.rst
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
:github_url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/doc/usage/controllers.rst

Controllers
===========

Expand Down Expand Up @@ -96,7 +98,7 @@ Allows setting I/O ports, controlling some UR-specific functionality and publish
forward_velocity_controller
^^^^^^^^^^^^^^^^^^^^^^^^^^^

Type: `velocity_controllers/JointGroupVelocityController <https://control.ros.org/rolling/doc/ros2_controllers/position_controllers/doc/userdoc.html#position-controllers-jointgrouppositioncontroller>`_
Type: `velocity_controllers/JointGroupVelocityController <https://control.ros.org/rolling/doc/ros2_controllers/velocity_controllers/doc/userdoc.html#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
Expand All @@ -105,7 +107,7 @@ controller is particularly useful when doing servoing such as ``moveit_servo``.
forward_position_controller
^^^^^^^^^^^^^^^^^^^^^^^^^^^

Type: `position_controllers/JointGroupPositionController <https://control.ros.org/rolling/doc/ros2_controllers/velocity_controllers/doc/userdoc.html#velocity-controllers-jointgroupvelocitycontroller>`_
Type: `position_controllers/JointGroupPositionController <https://control.ros.org/rolling/doc/ros2_controllers/position_controllers/doc/userdoc.html#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
Expand Down
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