Update documentation that the secondary interface isn't necessarily needed.

Author: urfeex

README.md

@@ -87,8 +87,8 @@ See [Architecture documentation](doc/architecture.rst)
 
 Currently, this library doesn't support the primary interface very well, as the [Universal Robots
 ROS driver](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) was built mainly upon
-the RTDE interface. Therefore, there is also no `PrimaryClient` for directly accessing the primary
-interface. This may change in future, though.
+the RTDE interface. The `PrimaryClient` for directly accessing the primary
+interface doesn't support all features of the primary interface.
 
 The `comm::URStream` class can be used to open a connection to the primary / secondary interface
 and send data to it. The [producer/consumer](#producer--consumer-architecture) pipeline structure

doc/architecture/ur_driver.rst

@@ -14,7 +14,7 @@ When creating an instance of the ``UrDriver`` class, the created object will con
 - a :ref:`ScriptCommandInterface <script_command_interface>`
 - a :ref:`ScriptSender <script_sender>`
 - a :ref:`TrajectoryPointInterface <trajectory_point_interface>`.
-- a rudimentary client to the robot's secondary interface
+- a rudimentary client to the robot's primary interface
 - a couple of helper functions
 
 As this page is not meant to be a full-blown API documentation, not every public method will be
@@ -42,7 +42,7 @@ given to this function. Connection to the primary interface is dropped afterward
 ``sendScript(const std::string& program)``
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-This function sends given URScript code directly to the secondary interface. The
+This function sends given URScript code directly to the primary interface. The
 ``sendRobotProgram()`` function is a special case that will send the script code given in the
 ``RTDEClient`` constructor.
 

doc/setup/robot_setup.rst

@@ -37,7 +37,7 @@ The robot needs to be prepared before it can be used with the client library.
       #. Go to the hamburger menu -> settings.
       #. Go to Security -> Services.
       #. Unlock the menu using the admin password.
-      #. Enable the Dashboard Server, Primary Client Interface, Secondary Client Interface and Real-Time Data Exchange (RTDE) interfaces.
+      #. Enable the Dashboard Server, Primary Client Interface and Real-Time Data Exchange (RTDE) interfaces.
       #. Lock the menu and press exit.
 
       .. image:: ../images/initial_setup_images/services_polyscope5.png
@@ -52,7 +52,7 @@ The robot needs to be prepared before it can be used with the client library.
       #. Go to the hamburger menu -> settings.
       #. Go to Security -> Services.
       #. Unlock the menu using the admin password.
-      #. Enable the Primary Client Interface, Secondary Client Interface and Real-Time Data Exchange (RTDE) interfaces.
+      #. Enable the Primary Client Interface and Real-Time Data Exchange (RTDE) interfaces.
       #. Lock the menu and press exit.
 
       .. image:: ../images/initial_setup_images/services_polyscopex.png