Compatibility with PolyscopeX

[GDqbrobotics]

Hello, I'm using this package with PolyscopeX 10.9.0.
I have the external-control urcapx installed on the robot and it is working with Universal_Robot_ROS2_Driver, even if I'm having the errors that no communication with dashboard can be established.

I know that PolyscopeX has no dashboard but it looks like this feature is mandatory for ROS1 driver while for ROS2 it just gives errors.

When I try the Universal_Robots_ROS_Driver, the node seems to be stuck with messages "Failed to connect to robot on IP 192.168.3.96:29999"

I'm aware that ROS1 is already EOL and I can assume that making PolyscopeX compatible with ROS1 driver is not your priority, but is there a way to overcome this issue? I really need to use ROS1 for a specific project...

Thank you for your help

[urfeex]

Thank you @GDqbrobotics for reporting this. As ROS 1 is EOL, we are not able to supply an apt-package with that, but #759 should provide a source-buildable solution for that problem.

[GDqbrobotics]

Thank you for your help!
However yesterday I went crazy trying to install UR ROS Driver from source and I have not even succeeded... Some dependencies cannot be found by rosdep. I also tried to install before ros-noetic-universal-robots by binaries and add source of this repo, but other dependencies were still missing.
Am I doing something wrong?

[urfeex]

As you are using an end of life distribution, you might have to tell that to rosdep. I just checked and managed to build it fine in a ubuntu focal docker container with the following set of commands:

rosdep update --include-eol-distros
mkdir -p catkin_ws/src && cd catkin_ws
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/ur_robot_driver
rosdep install -y -q --from-paths . --ignore-src
catkin_make

[urfeex]

One more note regarding my statement regarding the apt package: The ROS-O project builds binary packages built from the master branch available here: https://ros.packages.techfak.net/

Please see the project's website for more information: https://github.com/ros-o/ros-o

[GDqbrobotics]

Ok, thank you very much!
The workaround that I found to install everything was:

RUN apt-get update
&& apt-get install -y
ros-noetic-universal-robots
ros-noetic-ur-client-library
ros-noetic-ros-controllers-cartesian
ros-noetic-industrial-robot-status-interface
ros-noetic-pass-through-controllers
ros-noetic-scaled-controllers
&& rm -rf /var/lib/apt/lists/*

RUN mkdir -p /ur_ws/src
&& source /opt/ros/noetic/setup.bash
&& cd /ur_ws/src
&& git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
&& git clone -b noetic https://github.com/ros-industrial/ur_msgs.git
&& cd ..
&& rosdep update
&& rosdep install --dependency-types=build --from-paths src --ignore-src --rosdistro noetic -y
&& catkin_make

(a little ugly...)

[urfeex]

I've proposed changes to the README in #760 to cover this.