Welcome to ROS 2 Documentation for Polyscope X

This documentation contains information about the ROS 2 components built into Polyscope X. It is intended to use ROS 2 messages and services directly from URScript and access robot realtime data over ROS 2.

Note

There is a separate ROS 2 driver documentation, see Universal Robots ROS2 driver page for more details.

The ROS2 integration paths page explains the difference between the built-in ROS 2 support and the ROS 2 driver.

Contents

• 1. Introduction
  • 1.1 ROS2 versions
  • 1.2 Quality of Service settings
• 2. Limitations
  • 2.1 ROS2 features
  • 2.2 Node discovery
  • 2.3 Threading model and Impact on processor load
  • 2.4 Latency of real time data
  • 2.5 Impact of changing the system time on published messages
  • 2.6 Data type limitations
• 3. URinterfaces Message Library
  • 3.1 Usage on robot
  • 3.2 Usage off robot
  • 3.3 Versioning and compatibility
• 4. ROS2 Namespace
  • 4.1 Example topic name with namespace
  • 4.2 Exceptions
• 5. Configuring ROS Domain ID and Firewall
• 6. Basic Usage in URScript
  • 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
• 7. Build and Deploy Dockerized ROS Node to Robot
  • 7.1 Using standard ROS2 docker
• 8. Usage in URCapX
  • 8.1 Dockerized C++ daemon
  • 8.2 Using ROS in PSX frontend
• 9. Appendix
  • 9.1 Appendix 1 - Message Definitions Available for Programs
  • 9.2 Appendix 2 - Topics and Services
  • 9.3 Appendix 3 - Routing ROS2 between Subnets
  • 9.4 Appendix 4 - ROS2 Services Compatibility
  • 9.5 Appendix 5 - Frequently Asked Questions

If you need help with ROS2, please email support@universal-robots.com