Merge branch 'main' into tool_contact

Author: URJala

ur_robot_driver/README.md

@@ -33,7 +33,7 @@ request.
 **Custom script snippets** can be sent to the robot on a topic basis. By default, they will
 interrupt other programs (such as the one controlling the robot). For a certain subset of functions,
 it is however possible to send them as secondary programs. See [UR
-documentation](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/secondary-program-17257/)
+documentation](https://www.universal-robots.com/articles/ur/programming/secondary-program/)
 on details.
 <br/>
 **Note to e-Series users:**

ur_robot_driver/doc/installation/initial_setup_images/remote_control.png

@@ -23,7 +23,38 @@ There are many possible ways to connect a UR robot. This section describes a goo
    Preferred DNS server: 192.168.1.1
    Alternative DNS server: 0.0.0.0
 
-
+* Enable remote control (Not applicable on PolyScope X versions)
+   #. Go to the hamburger menu -> settings.
+   #. Go to System -> Remote control.
+   #. Unlock the menu using the admin password, and enable Remote Control.
+   #. Press exit.
+   #. The robot can now be toggled between local and remote control in the upper right hand corner.
+
+.. image:: initial_setup_images/remote_control.png
+   :width: 600
+   :alt: Screenshot showing remote control toggle.
+
+* **If using PolyScope 5.10 or greater:**
+   #. Go to the hamburger menu -> settings.
+   #. Go to Security -> Services.
+   #. Unlock the menu using the admin password.
+   #. Enable the Dashboard Server (Not applicable on PolyScope X versions), Primary Client Interface, Secondary Client Interface and Real-Time Data Exchange (RTDE) interfaces.
+   #. Lock the menu and press exit.
+
+* PolyScope 5 screen:
+
+.. image:: initial_setup_images/services_polyscope5.png
+      :width: 600
+      :alt: Screenshot from PolyScope 5.xx services menu.
+
+* PolyScope X screen:
+
+.. image:: initial_setup_images/services_polyscopex.jpg
+   :width: 600
+   :alt: Screenshot from PolyScope X screen.
+
+Remote PC Setup
+~~~~~~~~~~~~~~~
 #.
    On the remote PC, turn off all network devices except the "wired connection", e.g. turn off wifi.
 

ur_robot_driver/doc/installation/initial_setup_images/services_polyscope5.png

@@ -43,3 +43,11 @@ environment for testing of "piping" of hardware and controllers, as well as test
 descriptions. For more details see `ros2_control documentation
 <https://control.ros.org/rolling/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html>`_
 for more details.
+
+.. note::
+   Some driver functionalities currently don't work with mock hardware:
+
+   * The TCP pose broadcaster does not work.
+   * The passthrough trajectory controller does not function when calling the follow joint trajectory action.
+   * The force mode controller also does not respond when trying to start force mode.
+   * The GPIO controller cannot verify that it has changed the state of an I/O pin, so it will report a failure when trying to set an I/O pin.