https://github.com/universalrobots/universal_robots_ros_scaled_controllers

Repository containing the scaling_interface and the scaled trajectory controller.
https://github.com/universalrobots/universal_robots_ros_scaled_controllers

Last synced: 6 months ago
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Repository containing the scaling_interface and the scaled trajectory controller.

• Host: GitHub
• URL: https://github.com/universalrobots/universal_robots_ros_scaled_controllers
• Owner: UniversalRobots
• License: apache-2.0
• Created: 2021-05-20T10:43:14.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2025-06-02T13:35:53.000Z (7 months ago)
• Last Synced: 2025-06-03T02:31:52.731Z (6 months ago)
• Language: C++
• Homepage:
• Size: 339 KB
• Stars: 8
• Watchers: 7
• Forks: 7
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Scaled controllers

This repository contains controllers and hardware interface for `ros_control` that are leveraging an

on-the-fly speed scaling mechanism. For example, they are used by the

[`ur_robot_driver`](http://wiki.ros.org/ur_robot_driver).

For this, the following subpackages exist:

  * A **speed_scaling_interface** to read the value of the current speed scaling into controllers.

  * A **speed_scaling_state_controller** that publishes the current execution speed as reported by

  the robot to a topic interface. Values are floating points between 0 and 1.

  * A **scaled_joint_trajectory_controller** that is similar to the *joint_trajectory_controller*,

  but it uses the speed scaling reported by the robot to reduce execution speed of the trajectory.

## Acknowledgement

Developed in collaboration between:

[](https://www.universal-robots.com/)   and  

[](https://www.fzi.de).

***



  



Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  

More information: rosin-project.eu

  

This project has received funding from the European Union’s Horizon 2020  

research and innovation programme under grant agreement no. 732287.