The difference between the /scaled_pos_traj_controller and /pos_traj_controller

[TFLQW]

Summary

Could tell me the difference between the controllers of /scaled_pos_traj_controller and /pos_traj_controller

Introduction to the issue
I have tried to use the controllers of /scaled_pos_traj_controller and /pos_traj_controller, when I sent the goal position of the joints to the robot, I found no diiference between them. So could you explain why you create these two controllers maybe have the same function.

Versions

• ROS Driver version:
• Affected Robot Software Version(s): CB3
• Affected Robot Hardware Version(s): UR10
• Robot Serial Number:
• UR+ product(s) installed:
• URCaps Software version(s):

Issue details

This part is important in order to clarify the severity of the issue.

[fmauch]

See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_controllers/README.md for a quick answer. This description could probably be improved, though.

[fmauch]

@TFLQW I've improved the documentation a bit: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/controller_doc/ur_controllers/README.md

Could you please comment whether this leaves any open questions?

[TFLQW]

Thanks for your reply! I have no questions!