58 lines
1.5 KiB
ReStructuredText
58 lines
1.5 KiB
ReStructuredText
.. role:: raw-html-m2r(raw)
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:format: html
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Feature list and roadmap
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------------------------
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.. list-table::
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:header-rows: 1
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* - Feature
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- ROS2 Driver
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* - joint-position-based control
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- yes
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* - scaled joint-position-based control
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- yes
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* - joint-velocity-based control
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- yes\ :raw-html-m2r:`<sup>1</sup>`
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* - Cartesian position-based control
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- no
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* - Cartesian twist-based control
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- no
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* - Trajectory forwarding for execution on robot
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- no
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* - reporting of tcp wrench
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- yes
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* - pausing of programs
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- yes
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* - continue trajectories after EM-Stop resume
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- yes
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* - continue trajectories after protective stop
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- yes
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* - panel interaction in between possible
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- yes
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* - get and set IO states
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- yes
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* - use `tool communication forwarder <https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap>`_ on e-series
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- yes
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* - use the driver without a teach pendant necessary
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- yes
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* - support of CB1 and CB2 robots
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- no
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* - trajectory extrapolation on robot on missing packages
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- yes
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* - use ROS as drop-in for TP-programs
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- yes
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* - headless mode
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- yes
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* - extract calibration from robot
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- yes
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* - send custom script commands to robot
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- no
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* - Reconnect on a disconnected robot
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- yes
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:raw-html-m2r:`<sup>1</sup>` Velocity-based joint control is implemented in the driver, but the current version of ros2_control do not yet support Velocity-based joint trajectory control
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