ur_client_library

Contents:

• Build / installation
  • Plain cmake
  • Inside a ROS / ROS 2 workspace
    • ROS noetic
    • ROS 2
  • Use this library in other projects
• Polyscope version compatibility
• Library architecture
  • RTDEClient
    • RTDEWriter
  • ReverseInterface
  • ScriptSender
  • Other public interface functions
    • check_calibration()
    • sendScript()
  • DashboardClient
• Example driver
• Setup for real-time scheduling
  • Installing a lowlatency-kernel
  • Setting up Ubuntu with a PREEMPT_RT kernel
    • Preparing
    • Getting the sources for a real-time kernel
      • Verification
    • Compilation
  • Setup user privileges to use real-time scheduling
  • Setup GRUB to always boot the lowlatency / real-time kernel
  • Reboot the PC
  • Check for preemption capabilities
  • Optional: Disable CPU speed scaling