| Feature | this_driver |
|---|---|
| joint-position-based control | yes |
| scaled joint-position-based control | yes |
| joint-velocity-based control | yes |
| Cartesian position-based control | yes |
| Cartesian twist-based control | yes |
| Trajectory forwarding for execution on robot | yes |
| reporting of tcp wrench | yes |
| pausing of programs | yes |
| continue trajectories after EM-Stop resume | yes |
| continue trajectories after protective stop | yes |
| panel interaction in between possible | yes |
| get and set IO states | yes |
| use tool communication on e-series | yes1 |
| use the driver without a teach pendant necessary | yes |
| support of CB1 and CB2 robots | no |
| trajectory extrapolation on robot on missing packages | yes |
| use ROS as drop-in for TP-programs | yes2 |
| headless mode | yes |
| extract calibration from robot | yes |
| send custom script commands to robot | yes |
| ROS 2 support | (yes)3 |
| Reconnect on a disconnected robot | yes |
1 Requires URCap (included in resources): https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap
2 Requires URCap (included in resources): https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap
3 The ROS2 driver lives in its own repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver