Added explanation of scaled trajectory controller #250
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ur_controllers/README.md
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| sections. | ||
| ### ur_controllers/SpeedScalingStateController | ||
| This controller publishes the readings of the actual execution speed as reported from the robot. | ||
| This is the percentage of the speed slider multiplied with the `target_speed_fraction` that results |
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"the speed slider": which speed slider?
And where does target_speed_fraction come from? Is that an RTDE field?
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Yes, that would probably need further clarification.
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Clarified in 3eb56fa
| can be transparently scaled down using the speed slider on the teach pendant without leading to | ||
| additional path deviations. Pausing the program or hitting an EM-Stop effectively leads to | ||
| speed_scaling being 0 meaning the trajectory will not be continued until the program is continued. | ||
| This way, trajectory executions can be explicitly paused and continued. |
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Suggested change
| This way, trajectory executions can be explicitly paused and continued. | |
| This way, trajectory execution can be essentially paused and continued. |
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I am not so sure on the second one. I might rather add the appendix "on the teach pendant".
Thanks @gavanderhoorn for this in-depth review! Co-authored-by: G.A. vd. Hoorn <[email protected]>
Co-authored-by: G.A. vd. Hoorn <[email protected]>
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This resolves #247