6. Basic Usage in URScript

URScript supports subscribing and publishing to topics.

In the following sections we provide a hello world example whose purpose is to facilitate experiments to learn how publishing works in URScript. Next we provide a set of examples reflecting the use cases we deem most likely. We then conclude with some limitation and workarounds.

• 6.1 ROS Publisher Factory
• 6.2 ROS Subscriber Factory
• 6.3 A hello world example!
• 6.4 Typical Use Cases For Subcribers
• 6.5 Calling Services
• 6.6 Calling actions
• 6.7 Limitations, Bookkeeping and Workarounds
• 6.8 Example with External Sensor/Actuator