Update documentation

Author: urfeex

doc/examples/force_mode.rst

@@ -6,15 +6,16 @@ Force Mode example
 The ``ur_client_library`` supports leveraging the robot's force mode directly. An example on how to
 use it can be found in `force_mode_example.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/force_mode_example.cpp>`_.
 
-In order to utilize force mode, we'll have to create and initialize a full ``UrDriver`` object
-first:
+In order to utilize force mode, we'll have to create and initialize a driver object
+first. We use the ``ExampleRobotWrapper`` class for this example. That starts a :ref:`ur_driver`
+and a :ref:`dashboard_client` to communicate with the robot:
 
 .. literalinclude:: ../../examples/force_mode_example.cpp
    :language: c++
    :caption: examples/force_mode_example.cpp
    :linenos:
    :lineno-match:
-   :start-at: // Now the robot is ready to receive a program
+   :start-at: bool headless_mode = true;
    :end-at: // End of initialization
 
 Start force mode

doc/examples/instruction_executor.rst

@@ -20,8 +20,8 @@ The `instruction_executor.cpp <https://github.com/UniversalRobots/Universal_Robo
    :caption: examples/instruction_executor.cpp
    :linenos:
    :lineno-match:
-   :start-at: std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
-   :end-at: auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_driver);
+   :start-at: bool headless_mode = true;
+   :end-at: auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_robot->ur_driver_);
 
 At first, a ``InstructionExecutor`` object is created with the URDriver object as it needs that
 for communication with the robot.
@@ -61,6 +61,6 @@ To run a single motion, the ``InstructionExecutor`` provides the methods ``moveJ
    :linenos:
    :lineno-match:
    :start-at: double goal_time_sec = 2.0;
-   :end-before: g_my_driver->stopControl();
+   :end-before: g_my_robot->ur_driver_->stopControl();
 
 Again, time parametrization has priority over acceleration / velocity parameters.

doc/examples/tool_contact_example.rst

@@ -12,15 +12,15 @@ tool contact mode to detect collisions and stop the robot.
 As a basic concept, we will move the robot linearly in the negative z axis until the tool hits
 something or the program's timeout is hit.
 
-At first, we create a ``UrDriver`` object as usual:
+At first, we create a initialize a driver as usual:
 
 .. literalinclude:: ../../examples/tool_contact_example.cpp
    :language: c++
    :caption: examples/tool_contact_example.cpp
    :linenos:
    :lineno-match:
-   :start-at: std::unique_ptr<ToolCommSetup> tool_comm_setup;
-   :end-before: g_my_driver->registerToolContactResultCallback
+   :start-at: bool headless_mode = true;
+   :end-before: g_my_robot->ur_driver_->registerToolContactResultCallback
 
 We use a small helper function to make sure that the reverse interface is active and connected
 before proceeding.
@@ -45,8 +45,8 @@ This function is registered as a callback to the driver and then tool_contact mo
    :caption: examples/tool_contact_example.cpp
    :linenos:
    :lineno-match:
-   :start-at: g_my_driver->registerToolContactResultCallback(&handleToolContactResult);
-   :end-at: g_my_driver->startToolContact()
+   :start-at: g_my_robot->ur_driver_->registerToolContactResultCallback(&handleToolContactResult);
+   :end-at: g_my_robot->ur_driver_->startToolContact()
 
 Once everything is initialized, we can start a control loop commanding the robot to move in the
 negative z direction until the program timeout is hit or a tool contact is detected:

doc/examples/trajectory_point_interface.rst

@@ -14,7 +14,7 @@ At first, we create a ``UrDriver`` object as usual:
    :caption: examples/trajectory_point_interface.cpp
    :linenos:
    :lineno-match:
-   :start-at: std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
+   :start-at: bool headless_mode = true;
    :end-before: // --------------- INITIALIZATION END -------------------
 
 We use a small helper function to make sure that the reverse interface is active and connected
@@ -45,8 +45,8 @@ That callback can be registered at the ``UrDriver`` object:
    :caption: examples/trajectory_point_interface.cpp
    :linenos:
    :lineno-match:
-   :start-at: g_my_driver->registerTrajectoryDoneCallback(&trajDoneCallback);
-   :end-at: g_my_driver->registerTrajectoryDoneCallback(&trajDoneCallback);
+   :start-at: g_my_robot->ur_driver_->registerTrajectoryDoneCallback(&trajDoneCallback);
+   :end-at: g_my_robot->ur_driver_->registerTrajectoryDoneCallback(&trajDoneCallback);
 
 
 MoveJ Trajectory
@@ -67,12 +67,12 @@ parameters. The following example shows execution of a 2-point trajectory using
 In fact, the path is followed twice, once parametrized by a segment duration and once using maximum
 velocity / acceleration settings. If a duration > 0 is given for a segment, the velocity and
 acceleration settings will be ignored as in the underlying URScript functions. In the example
-above, each of the ``g_my_driver->writeTrajectoryPoint()`` calls will be translated into a
+above, each of the ``g_my_robot->ur_driver_->writeTrajectoryPoint()`` calls will be translated into a
 ``movej`` command in URScript.
 
 While the trajectory is running, we need to tell the robot program that connection is still active
 and we expect the trajectory to be running. This is being done by the
-``g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);``
+``g_my_robot->ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);``
 call.
 
 MoveL Trajectory

doc/examples/ur_driver.rst

@@ -20,16 +20,16 @@ example.
 Initialization
 --------------
 
-At first, we create a ``UrDriver`` object giving it the robot's IP address, script file and RTDE
+At first, we create a ``ExampleRobotWrapper`` object giving it the robot's IP address, script file and RTDE
 recipes.
 
 .. literalinclude:: ../../examples/full_driver.cpp
    :language: c++
    :caption: examples/full_driver.cpp
    :linenos:
    :lineno-match:
-   :start-at: std::unique_ptr<ToolCommSetup> tool_comm_setup;
-   :end-at: std::move(tool_comm_setup)
+   :start-at: bool headless_mode = true;
+   :end-at: // --------------- INITIALIZATION END -------------------
 
 Robot control loop
 ------------------

examples/full_driver.cpp

@@ -68,6 +68,7 @@ int main(int argc, char* argv[])
     URCL_LOG_ERROR("External Control script not running.");
     return 1;
   }
+  // --------------- INITIALIZATION END -------------------
 
   // Increment depends on robot version
   double increment_constant = 0.0005;