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.

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.