9. Usage in URCapX

Look at “simple-ros2-node”, and “simple-gripper” URCapX examples in Polyscope X documentation.

ROS 2 communication from URCapX is normally limited to the physical robot (running program, realtime data, UI). If URCapX should communicate with external nodes, then additional configuration is needed.

9.1 Dockerized C++ daemon

Look at “ROS 2 - Backend Contribution” in Polyscope X documentation.

9.2 Using ROS in PSX frontend

Look at “ROS 2 - Frontend Contribution” in Polyscope X documentation.