Move some documentation to client_library

ur_robot_driver/doc/dashboard_client.rst

@@ -1,4 +1,4 @@
-.. _dashboard_client:
+.. _dashboard_client_ros2:
 
 Dashboard client
 ================

ur_robot_driver/doc/installation/robot_setup.rst

@@ -1,98 +1,11 @@
-.. _robot_setup:
-
 Setting up a UR robot for ur_robot_driver
 =========================================
 
-Network setup
--------------
-
-There are many possible ways to connect a UR robot. This section describes a good example using static IP addresses and a direct connection from the PC to the Robot to minimize latency introduced by network hardware. Though a good network switch usually works fine, as well.
-
-
-#.
-   Connect the UR control box directly to the remote PC with an ethernet cable.
-
-#.
-   Open the network settings from the UR teach pendant (Setup Robot -> Network) and enter these settings:
-
-.. code-block::
-
-   IP address: 192.168.1.102
-   Subnet mask: 255.255.255.0
-   Default gateway: 192.168.1.1
-   Preferred DNS server: 192.168.1.1
-   Alternative DNS server: 0.0.0.0
-
-* Enable remote control (Not applicable on PolyScope X versions)
-   #. Go to the hamburger menu -> settings.
-   #. Go to System -> Remote control.
-   #. Unlock the menu using the admin password, and enable Remote Control.
-   #. Press exit.
-   #. The robot can now be toggled between local and remote control in the upper right hand corner.
-
-.. image:: initial_setup_images/remote_control.png
-   :width: 600
-   :alt: Screenshot showing remote control toggle.
-
-* **If using PolyScope 5.10 or greater:**
-   #. Go to the hamburger menu -> settings.
-   #. Go to Security -> Services.
-   #. Unlock the menu using the admin password.
-   #. Enable the Dashboard Server (Not applicable on PolyScope X versions), Primary Client Interface, Secondary Client Interface and Real-Time Data Exchange (RTDE) interfaces.
-   #. Lock the menu and press exit.
-
-* PolyScope 5 screen:
-
-.. image:: initial_setup_images/services_polyscope5.png
-      :width: 600
-      :alt: Screenshot from PolyScope 5.xx services menu.
-
-* PolyScope X screen:
-
-.. image:: initial_setup_images/services_polyscopex.jpg
-   :width: 600
-   :alt: Screenshot from PolyScope X screen.
-
-Remote PC Setup
-~~~~~~~~~~~~~~~
-#.
-   On the remote PC, turn off all network devices except the "wired connection", e.g. turn off wifi.
-
-#.
-   Open Network Settings and create a new Wired connection with these settings. You may want to name this new connection ``UR`` or something similar:
-
-.. code-block::
-
-   IPv4
-   Manual
-   Address: 192.168.1.101
-   Netmask: 255.255.255.0
-   Gateway: 192.168.1.1
-
-
-#. Verify the connection from the PC with e.g. ping.
-
-.. code-block::
-
-   ping 192.168.1.102
-
-Prepare the robot
------------------
-
-This section describes installation and launching of the URCap program from the pendant. It allows ROS to control the robot externally. Generally, you will launch the driver via ROS then start URCap from the pendant.
-
-For using the *ur_robot_driver* with a real robot you need to install the
-**externalcontrol urcap**. The latest release can be downloaded from `its own repository <https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases>`_.
-
-**Note**: For installing this URCap a minimal PolyScope version of 3.14.3 or 5.9.4 (in case of e-Series) is
-necessary.
-
-For installing the necessary URCap and creating a program, please see the individual tutorials on
-how to :ref:`setup a cb3 robot <install-urcap-cb3>` or how to
-:ref:`setup an e-Series robot <install-urcap-e-series>`.
+Prepare robot and network connection
+------------------------------------
 
-To setup the tool communication on an e-Series robot, please consider the :ref:`tool communication setup
-guide <setup-tool-communication>`.
+Before you can use the ``ur_robot_driver`` you need to prepare the robot and the network
+connection as described in the :ref:`robot_setup`  and :ref:`network_setup` section of the UR Client Library documentation.
 
 Prepare the ROS PC
 ------------------

ur_robot_driver/doc/installation/toc.rst

@@ -11,6 +11,3 @@ This chapter explains how to install the ``ur_robot_driver``
 
    installation
    robot_setup
-   install_urcap_cb3
-   install_urcap_e_series
-   ursim_docker

ur_robot_driver/doc/operation_modes.rst

@@ -17,8 +17,8 @@ E-series robots can operate in different command modes: It can be either in *loc
 The remote control mode is needed for many aspects of this driver such as
 
 - :ref:`headless_mode`
-- :ref:`Sending script code to the robot<script_command_interface>`
-- Many :ref:`dashboard<dashboard_client>` functionalities such as
+- :ref:`Sending script code to the robot<script_command_interface_ros2>`
+- Many :ref:`dashboard<dashboard_client_ros2>` functionalities such as
 
   - restarting the robot after protective / EM-Stop
   - powering on the robot and do brake release
@@ -29,16 +29,16 @@ Driver's operation modes
 ------------------------
 
 There are two fundamentally different control modes of the UR ROS driver to control a UR robot or the URSim robot simulator:
-- *Teach Pendant mode* using the :ref:`External Control URCap<install-urcap-e-series>`
+- *Teach Pendant mode* using the :ref:`External Control URCap<install_urcap>`
 - *Headless mode* that works without interacting with Teach pendant, when *remote control mode* has been selected on the teach pendant.
 
 .. _teach_pendant_mode:
 
 Teach Pendant Mode
 ^^^^^^^^^^^^^^^^^^^^^
 
-In Teach Pendant mode you will need the :ref:`External Control URCap<install-urcap-e-series>`
-installed on the robot. Please follow the installation guidelines for the :ref:`CB3<install-urcap-cb3>` or :ref:`E-series<install-urcap-e-series>`. Remember to set the correct IP address for the ROS driver host computer, and ensure the configured port number matches the ``script_sender_port`` defined in the ROS driver's launch arguments, default is 50002.
+In Teach Pendant mode you will need the :ref:`External Control URCap<install_urcap>`
+installed on the robot. Remember to set the correct IP address for the ROS driver host computer, and ensure the configured port number matches the ``script_sender_port`` defined in the ROS driver's launch arguments, default is 50002.
 
 With that, create a program containing the *External Control* program node and press "play" on the teach pendant to start the program.
 Hereafter the URCap will request script code from the ROS driver and execute it, once the program enters that node. In addition, the ROS driver can return the control to the Teach pendent program. This gives the possibility to combine the teach pendant program and the use of the ROS driver.

ur_robot_driver/doc/setup_tool_communication.rst

@@ -26,7 +26,7 @@ Robot setup
 -----------
 
 For setting up the robot, please install the **rs485-1.0.urcap** found in the **resources** folder.
-Installing a URCap is explained in the :ref:`setup guide <install-urcap-e-series>` for the **external-control** URCap.
+Installing a URCap is explained in the :ref:`setup guide <install_urcap>` for the **external-control** URCap.
 
 After installing the URCap the robot will expose its tool communication device to the network.
 

ur_robot_driver/doc/usage/script_code.rst

@@ -1,7 +1,7 @@
 Sending URScript code to the robot
 ==================================
 
-.. _script_command_interface:
+.. _script_command_interface_ros2:
 
 Custom URScript commands
 ------------------------