Skip to content

Docs: Corrects forward hardware interfaces & Contributing.md (backport #1569) #1570

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Nov 13, 2025
Merged

Docs: Corrects forward hardware interfaces & Contributing.md (backport #1569) #1570

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion CONTRIBUTING.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ Please try to include as much information as you can. Details like these are inc
Contributions via pull requests are much appreciated.
Before sending us a pull request, please ensure that:

1. You are working against the latest source on the *master* branch.
1. You are working against the latest source on the *main* branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.

Expand Down
14 changes: 8 additions & 6 deletions ur_robot_driver/doc/usage/controllers.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -97,23 +97,25 @@ Type: :ref:`ur_controllers/GPIOController <io_and_status_controller>`

Allows setting I/O ports, controlling some UR-specific functionality and publishes status information about the robot.

forward_effort_controller
^^^^^^^^^^^^^^^^^^^^^^^^^
Type: `effort_controllers/JointGroupEffortController <https://control.ros.org/rolling/doc/ros2_controllers/effort_controllers/doc/userdoc.html#effort-controllers-jointgroupeffortcontroller>`_

Allows setting target joint efforts (torques) directly. The user is therefore responsible for sending commands that are achievable. This controller is useful when implementing compliance or force control strategies.

forward_velocity_controller
^^^^^^^^^^^^^^^^^^^^^^^^^^^

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
controller is particularly useful when doing servoing such as ``moveit_servo``.
Allows setting target joint velocities directly. The user is therefore responsible for sending commands that are achievable. This 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/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
``moveit_servo``.
Allows setting target joint positions directly. The robot tries to reach the target position as fast as possible. The user is responsible for sending commands that are achievable. This controller is particularly useful when doing servoing such as ``moveit_servo``.

force_mode_controller
^^^^^^^^^^^^^^^^^^^^^
Expand Down