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Merged
merged 2 commits into from
May 21, 2025
Merged

Update feature list #1372

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71ef262
Update feature list
urfeex May 20, 2025
1876356
Add references to feature list
urfeex May 20, 2025
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2 changes: 2 additions & 0 deletions ur_calibration/doc/index.rst
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
:github_url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/doc/index.rst

.. _ur_calibration:

ur_calibration
==============

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26 changes: 16 additions & 10 deletions ur_robot_driver/doc/features.rst
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:github_url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/doc/features.rst

.. role:: raw-html-m2r(raw)
:format: html

Expand All @@ -15,15 +13,15 @@ Feature list and roadmap
* - joint-position-based control
- yes
* - scaled joint-position-based control
- yes
- yes (:ref:`scaled_jtc`)
* - joint-velocity-based control
- yes
- yes\ :raw-html-m2r:`<sup>1</sup>`
* - Cartesian position-based control
- no
* - Cartesian twist-based control
- no
* - Trajectory forwarding for execution on robot
- yes
- yes (:ref:`passthrough_trajectory_controller`)
* - reporting of tcp wrench
- yes
* - pausing of programs
Expand All @@ -35,9 +33,9 @@ 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
Expand All @@ -47,10 +45,18 @@ 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
- yes
- 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.
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