This folder contains the documentation for ur_ros_rtde, organized into multiple Markdown files.
Each document is briefly described below.
-
Plugin System
Overview of the plugin architecture and description of the available plugins. -
Available Plugins
Complete list of plugins implemented by default inur_ros_rtde. -
Extending the Control Script
Guide on how to extend the defaultur_rtdecontrol script (e.g., to interact with external URCaps installed on the robot). -
Robot Joint State Handling
Explanation of howur_ros_rtdemanages robot configuration in ROS 2. -
Integration with MoveIt!
Explanation of howur_ros_rtdecan be used with MoveIt!.