Skip to content

Improve wording on disambiguation section #12

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Apr 30, 2025
Merged

Improve wording on disambiguation section #12

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1c08146
Improve wording on disambiguation section
urfeex Apr 30, 2025
507d0f7
Also reword the note on the landing page
urfeex Apr 30, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions doc/ros2_controller_vs_driver.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,21 +15,21 @@ ROS 2 on the robot

1. Starting with PolyScope X v10.7.0 the robots have builtin ROS 2 support that allows some amount
of interaction with the robot without the need of any ROS 2 driver. In particular, the robot
publishes a lot of status information and offers services for example to control the robot's
publishes a lot of status information and offers services to control e.g. the robot's
I/O ports. See the `Topics and Services overview
<https://docs.universal-robots.com/polyscopex-ros2/v10.7/Appendix/Appendix%202.html>`_ for more
information.


2. Starting with PolyScope X v10.7.0 there is basic URScript support for ROS 2. This allows
publishing to and subscribing from ROS 2 topics directly in URScript as well as calling ROS 2
publishing and subscribing to ROS 2 topics directly in URScript as well as calling ROS 2
services and actions from URScript. See `Basic Usage in URScript
<https://docs.universal-robots.com/polyscopex-ros2/v10.7/Basic%20Usage%20in%20URScript.html>`_
for details on that.

.. note::

The builtin ROS 2 support will only be compatible with the ROS distribution running on the
The builtin ROS 2 support will only be compatible with the ROS 2 distribution running on the
robot. For example, PolyScope 10.7.0 is running ROS 2 Humble. It should not be used with
any other distribution.

Expand All @@ -44,7 +44,7 @@ Control the robot from an external ROS 2 application
To control your robot using ROS 2, you can utilize the :ref:`ur_robot_driver`, an Open-Source ROS 2 driver that is maintained by Universal Robots and offers full compatibility with `ros2_control
<https://control.ros.org>`_. This driver allows you to visualize the robot's state in RViz and control its motions through ROS 2. It supports CB3, e-Series, and PolyScope X robots.

By leveraging the ROS 2 driver, you can build your own application on the ROS framework. This includes integrating drivers for other hardware components, incorporating sensors, and utilizing ready-to-use software functionalities such as collision-aware path planning.
By leveraging the ROS 2 driver, you can build your own application on the ROS 2 framework. This includes integrating drivers for other hardware components, incorporating sensors, and utilizing ready-to-use software functionalities such as collision-aware path planning.

The ROS 2 driver communicates with the robot using the :ref:`ur_client_library`.

Expand Down
Loading