Update feature list (#490)

Some minor formatting and reducing the wrench features to one features to make it more clear.

Author: fmauch

ur_robot_driver/doc/features.md

@@ -2,28 +2,27 @@
 
 | Feature                                               | this_driver           |
 | ---                                                   | ---                   |
-| joint position-based control                          | yes                   |
-| scaled joint position-based control                   | yes                   |
+| 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                   |
-| 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                 | yes                   |
 | get and set IO states                                 | yes                   |
 | use tool communication on e-series                    | yes<sup>1</sup>       |
 | use the driver without a teach pendant necessary      | yes               |
-| support of CB2 robots                                 | -                     |
+| support of CB1 and CB2 robots                                 | no                     |
 | trajectory extrapolation on robot on missing packages | yes                   |
 | use ROS as drop-in for TP-programs                    | yes<sup>2</sup>       |
 | headless mode                                         | yes   |
 | extract calibration from robot                        | yes                   |
 | send custom script commands to robot                  | yes                   |
-| ROS 2 support                                         | (no)<sup>3</sup>      |
+| ROS 2 support                                         | (yes)<sup>3</sup>      |
 | Reconnect on a disconnected robot                     | yes           |
 
 <sup>1</sup> Requires URCap (included in