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Update feature list (backport #1372) #1374

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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
@@ -1,4 +1,6 @@

.. _ur_calibration:

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

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28 changes: 23 additions & 5 deletions ur_robot_driver/doc/features.rst
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Expand Up @@ -13,15 +13,19 @@ Feature list and roadmap
* - joint-position-based control
- yes
* - scaled joint-position-based control
- yes
- yes (:ref:`scaled_jtc`)
* - joint-velocity-based control
- yes\ :raw-html-m2r:`<sup>1</sup>`
* - Cartesian position-based control
- no
* - Cartesian twist-based control
- no
* - Trajectory forwarding for execution on robot
<<<<<<< HEAD
- no
=======
- yes (:ref:`passthrough_trajectory_controller`)
>>>>>>> c8a44a6 (Update feature list (#1372))
* - reporting of tcp wrench
- yes
* - pausing of programs
Expand All @@ -33,9 +37,9 @@ 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 @@ -45,13 +49,27 @@ 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
<<<<<<< HEAD
- no
* - Reconnect on a disconnected robot
- yes


: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
=======
- 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.
>>>>>>> c8a44a6 (Update feature list (#1372))
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