Add resume service to docs

Also, advertise it on a connected PolyScope X robot only

Author: urfeex

ur_robot_driver/doc/dashboard_client.rst

@@ -118,6 +118,12 @@ restart_safety (`std_srvs/Trigger <http://docs.ros.org/en/rolling/p/std_srvs/srv
 
 Used when robot gets a safety fault or violation to restart the safety. After safety has been rebooted the robot will be in Power Off. NOTE: You should always ensure it is okay to restart the system. It is highly recommended to check the error log before using this command (either via PolyScope or e.g. ssh connection).
 
+resume (`std_srvs/Trigger <http://docs.ros.org/en/rolling/p/std_srvs/srv/Trigger.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Resume a paused program on a PolyScope X robot. This service is only available on a PolyScope X
+robot connected.
+
 shutdown (`std_srvs/Trigger <http://docs.ros.org/en/rolling/p/std_srvs/srv/Trigger.html>`_)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 

ur_robot_driver/src/dashboard_client_ros.cpp

@@ -101,8 +101,10 @@ DashboardClientROS::DashboardClientROS(const rclcpp::Node::SharedPtr& node, cons
   play_service_ =
       createDashboardTriggerSrv("~/play", std::bind(&urcl::DashboardClient::commandPlayWithResponse, client_.get()));
 
-  resume_service_ = createDashboardTriggerSrv(
-      "~/resume", std::bind(&urcl::DashboardClient::commandResumeWithResponse, client_.get()));
+  if (dashboard_policy == urcl::DashboardClient::ClientPolicy::POLYSCOPE_X) {
+    resume_service_ = createDashboardTriggerSrv(
+        "~/resume", std::bind(&urcl::DashboardClient::commandResumeWithResponse, client_.get()));
+  }
 
   // Power off the robot motors
   power_off_service_ = createDashboardTriggerSrv(