Move setup instructions to ur_client_library (#248)

We want to move more common setup instructions to the client library.
It's documentation is pulled into
https://github.com/UniversalRobots/Universal_Robots_ROS_Documentation
anyway, so it will be available in the ROS documentation, anyway.

Co-authored-by: Rune Søe-Knudsen <[email protected]>

Author: urfeex

.github/workflows/ci.yml

@@ -103,5 +103,5 @@ jobs:
         run: |
           .github/helpers/check_urls.sh \
             -d ".git build CMakeModules debian" \
-            -f "package.xml urcl_architecture.svg trajectory_interface.svg dataflow.graphml start_ursim.sh" \
+            -f "package.xml urcl_architecture.svg trajectory_interface.svg dataflow.graphml start_ursim.sh ursim_docker.rst" \
             -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause kernel\.org\/pub\/linux\/kernel"

README.md

@@ -4,6 +4,10 @@ A C++ library for accessing Universal Robots interfaces. With this library C++-b
 implemented in order to create external applications leveraging the versatility of Universal Robots
 robotic manipulators.
 
+The library has no external dependencies besides the standard C++ libraries such as ROS, or boost
+to make it easy to integrate and maintain. It also serves as the foundation for the ROS and ROS 2
+drivers.
+
 <!-- markdownlint-disable MD033 -->
 <div align="center">
   <img src="doc/resources/family_photo.png" alt="Universal Robot family" style="width: 90%;"/>

doc/architecture/trajectory_point_interface.rst

@@ -8,7 +8,7 @@ be used in conjunction with the :ref:`reverse_interface` during trajectory forwa
 
 Communication regarding trajectory point execution would usually look like this:
 
-.. figure:: /images/trajectory_interface.svg
+.. figure:: ../images/trajectory_interface.svg
    :width: 100%
    :alt: Trajectory interface
 

doc/conf.py

@@ -46,9 +46,10 @@
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
+    "sphinx_tabs.tabs",
+    "sphinx.ext.todo",
     "sphinx_copybutton",
     "sphinx_rtd_theme",
-    "sphinx.ext.todo",
 ]
 
 copybutton_exclude = ".linenos, .gp, .go"