| Feature | ur_modern_driver | this_driver |
|---|---|---|
| position-based control | yes | yes |
| scaled position-based control | - | yes |
| velocity-based control | yes | planned |
| reporting of tcp wrench | yes | yes |
| reporting of tcp wrench in tcp link | - | yes |
| pausing of programs | - | yes |
| continue trajectories after EM-Stop resume | - | yes |
| continue trajectories after protective stop | - | yes |
| panel interaction in between possible | no1 | yes |
| get and set IO states | yes | yes |
| use tool communication on e-series | - | yes |
| use the driver without a teach pendant necessary | - | yes |
| support of CB2 robots | yes | - |
| trajectory extrapolation on robot on missing packages | no2 | yes |
| use ROS as drop-in for TP-programs | - | yes |
| extract calibration from robot | - | yes |
| send custom script commands to robot | yes | yes |
| ROS 2 support | ? | (planned)3 |
| Reconnect on a disconnected robot | yes | yes |
1 Depending on the mode the driver is running the panel won't react or using the panel will stop the program without notifying the ROS user.
2 In velocity mode this is implicitly given.
3 There is no specific plan to do this inside of the first driver development. However, it is structured in a way so that a ROS2 driver should be developed as easy as possible by keeping as much as possible in a ros-independent library.