### Basic CMake Project Setup

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur/CMakeLists.txt

Initializes the CMake build system and defines the project name. This is a standard starting point for CMake projects.

```cmake
cmake_minimum_required(VERSION 3.28.3)
project(ur)
```

--------------------------------

### Install Project Targets and Directories

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_controllers/CMakeLists.txt

Configures the installation rules for the project's targets, libraries, and include directories.

```cmake
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(DIRECTORY include/
  DESTINATION include
)

install(FILES controller_plugins.xml
  DESTINATION share/${PROJECT_NAME}
)
```

--------------------------------

### Install ur_robot_driver from Binary Packages

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/installation/installation.md

Installs the ur_robot_driver using apt-get. Ensure ROS2 is installed and sourced first.

```bash
sudo apt-get install ros-${ROS_DISTRO}-ur
```

--------------------------------

### Run Example Move Python Node

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/move.md

Execute a basic Python node to move the robot. This node is a starting point for custom ROS nodes but lacks advanced safety checks found in test nodes.

```bash
$ ros2 run ur_robot_driver example_move.py
```

```log
[INFO] [1720623611.547903428] [jtc_client]: Waiting for action server on joint_trajectory_controller/follow_joint_trajectory
[INFO] [1720623611.548368095] [jtc_client]: Executing trajectory traj0
[INFO] [1720623620.530203889] [jtc_client]: Done with result: SUCCESSFUL
[INFO] [1720623622.530668700] [jtc_client]: Executing trajectory traj1
[INFO] [1720623630.582108072] [jtc_client]: Done with result: SUCCESSFUL
[INFO] [1720623632.582576444] [jtc_client]: Done with all trajectories
[INFO] [1720623632.582957452] [jtc_client]: Done
```

--------------------------------

### Example URSim Launch

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/simulation.md

An example of launching the URSim simulator with specific URSim version and robot model.

```console
$ ros2 run ur_client_library start_ursim.sh -v 10.8.0 -m ur20
ROBOT_MODEL: ur20
ROBOT_SERIES: polyscopex
URSIM_VERSION: 10.8.0
5b140a83f8600c7ada0b7d75bc7a5808667adbeec77387e8c73b093f10fd2379
Starting URSim. Waiting for UrService to be up...................................
UrService is up
Installing URCapX /home/feex/.ursim/polyscopex/urcaps/external-control-0.1.0.urcapx


To access PolyScopeX, open the following URL in a web browser.


        http://192.168.56.101

To exit, press CTRL+C
```

--------------------------------

### load_installation

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/dashboard_client.md

Load a robot installation from a file.

```APIDOC
## load_installation

### Description
Load a robot installation from a file.

### Method
Call

### Endpoint
/load_installation

### Parameters
#### Request Body
- **filename** (string) - Required - The name of the installation file to load.

### Response
#### Success Response (200)
- **success** (boolean) - True if the installation was loaded successfully.
- **message** (string) - The response message from the server.
```

--------------------------------

### Install Launch Directory

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/CMakeLists.txt

Installs the 'launch' directory to the share directory of the package, making launch files accessible.

```cmake
install(DIRECTORY launch
        DESTINATION share/${PROJECT_NAME}
)
```

--------------------------------

### Launch MoveIt with UR Driver

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/move.md

Start the UR driver and then launch the MoveIt! nodes for planning and executing trajectories. This requires the ur_moveit_config package.

```bash
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
```

--------------------------------

### Clone, Install Dependencies, Build, and Source Workspace

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/installation/installation.md

Clones the driver repository, imports other necessary packages using vcs, installs system dependencies with rosdep, and builds the workspace with colcon. Replace <branch> with your ROS2 distribution (e.g., humble, iron, main).

```bash
cd $COLCON_WS
git clone -b <branch> https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
rosdep update
rosdep install --ignore-src --from-paths src -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
```

--------------------------------

### Install Executables

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_robot_driver/CMakeLists.txt

Installs the defined executables to the lib/<PROJECT_NAME> directory.

```cmake
install(
  TARGETS
    dashboard_client
    controller_stopper_node
    urscript_interface
    robot_state_helper
    trajectory_until_node
  DESTINATION lib/${PROJECT_NAME}
)
```

--------------------------------

### Install Pre-commit Hooks

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/README.md

Install pre-commit to automatically format code with clang-format upon git commit. Ensure clang-format 14 is installed.

```bash
pip3 install pre-commit
```

```bash
sudo apt install clang-format-14
```

```bash
pre-commit install
```

--------------------------------

### Install Include Directory

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/CMakeLists.txt

Installs the 'include' directory to the top-level include path for the package.

```cmake
install(DIRECTORY include/
        DESTINATION include
)
```

--------------------------------

### play

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/dashboard_client.md

Start execution of a previously loaded program.

```APIDOC
## play

### Description
Start execution of a previously loaded program.

### Method
Call

### Endpoint
/play

### Response
#### Success Response (200)
- **success** (boolean) - True if the program started execution successfully.
- **message** (string) - The response message from the server.
```

--------------------------------

### Launch Command with Absolute Path Example

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_robot_driver/doc/migration_notes.md

Demonstrates how to use an absolute path for configuration files in launch commands. This is necessary after enforcing absolute paths for files altering the launch process.

```bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur20 robot_ip:=192.168.56.101 \n  kinematics_params_file:=$(ros2 pkg prefix my_robot_cell_control)/share/my_robot_cell_control/config/my_robot_calibration.yaml
```

--------------------------------

### Install Build Tools and VCS

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/installation/installation.md

Installs colcon extensions and vcs tool required for building from source. Ensure ROS2 is sourced.

```bash
sudo apt install python3-colcon-common-extensions python3-vcstool
```

--------------------------------

### Launch UR Control Launch File

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/startup.md

Use this command to start the UR robot driver with essential parameters. Ensure 'ur_type' and 'robot_ip' are correctly set for your robot.

```bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
```

--------------------------------

### Start Force Mode Service

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_controllers/doc/usage/force_torque_control.md

This service starts the force mode controller. It requires a `SetForceMode` message.

```ros2
ros2 service call ~/start_force_mode ur_msgs/srv/SetForceMode
```

--------------------------------

### Start URSim with UR10e

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_robot_driver/README_MotionPrimitive.md

Launches the URSim simulation environment for a UR10e robot. Ensure remote control is enabled for the robot.

```bash
ros2 run ur_client_library start_ursim.sh -m ur10e
```

--------------------------------

### Install UR ROS2 Driver

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/README.md

Installs the Universal Robots ROS2 driver using apt-get. Ensure you are using a compatible ROS distribution.

```bash
sudo apt-get install ros-rolling-ur
```

--------------------------------

### Install Calibration Correction Executable

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/CMakeLists.txt

Installs the 'calibration_correction' executable to the runtime library directory.

```cmake
install(TARGETS calibration_correction
        RUNTIME DESTINATION lib/${PROJECT_NAME}
)
```

--------------------------------

### Launch UR Driver with Hardware

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/toc.md

Use this command to launch the UR ROS2 driver with physical hardware. Remember to start the external_control URCap program from the pendant after launching.

```console
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=<UR_TYPE> robot_ip:=<IP_OF_THE_ROBOT> launch_rviz:=true
```

--------------------------------

### Launch URSim Simulator

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/simulation.md

Use this script to start the URSim simulator. Specify the robot type and URSim version. If versions are omitted, defaults are used.

```bash
ros2 run ur_client_library start_ursim.sh -m <ur_type> -v <ursim_version>
```

--------------------------------

### Run Force Mode Example

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/force_torque_control.md

This script demonstrates how to activate and deactivate force mode on the robot. It requires the `passthrough_trajectory_controller` and `force_mode_controller` to be loaded.

```python
import rclpy
from ur_msgs.action import SetIO
from ur_msgs.srv import SetPayload
from ur_robot_driver.examples.force_mode import force_mode_example

def main():
    rclpy.init()
    force_mode_example()
    rclpy.shutdown()

if __name__ == '__main__':
    main()
```

--------------------------------

### Basic CMakeLists.txt Configuration

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_moveit_config/CMakeLists.txt

Standard CMakeLists.txt for a ROS 2 package. Includes minimum version, project name, finding ament_cmake, and package installation directives.

```cmake
cmake_minimum_required(VERSION 3.28.3)
project(ur_moveit_config)

find_package(ament_cmake REQUIRED)

ament_package()

install(
  DIRECTORY config launch srdf
  DESTINATION share/${PROJECT_NAME}
)
```

--------------------------------

### Run rs485 Node with Specified Device

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/setup_tool_communication.md

Run an rs485 node, specifying the device path for communication. This example assumes the 'imaginary_drivers' package and 'rs485_node'.

```bash
$ ros2 run imaginary_drivers rs485_node --ros-args -p device:=/tmp/ttyUR
```

--------------------------------

### Conditional Testing Dependencies Setup

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur/CMakeLists.txt

Configures dependencies for testing if the BUILD_TESTING flag is enabled. It finds linting packages and sets up test dependencies.

```cmake
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
```

--------------------------------

### Launch Joint Trajectory Controller Demo

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/move.md

Use this command to launch a demo node that sends goals to the Joint Trajectory Controller. Ensure the ros2_controllers_test_nodes package is installed.

```bash
$ ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py
```

--------------------------------

### Generate Absolute Path for Calibration File

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/migration_notes.md

Use `ros2 pkg prefix` to dynamically generate an absolute path for configuration files within launch files. This ensures that files are correctly located regardless of the package installation path.

```bash
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur20 robot_ip:=192.168.56.101 \
  kinematics_params_file:=$(ros2 pkg prefix my_robot_cell_control)/share/my_robot_cell_control/config/my_robot_calibration.yaml
```

--------------------------------

### Symbol Lookup Error Example

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/toc.md

This error indicates an ABI break, often due to outdated ROS installations or system updates after compiling from source. Reinstalling ROS and recompiling your workspace is recommended.

```text
[ros2_control_node-1] /opt/ros/rolling/lib/controller_manager/ros2_control_node: symbol lookup error: /opt/ros/rolling/lib/libpal_statistics_msgs__rosidl_typesupport_fastrtps_cpp.so: undefined symbol: _ZN8eprosima7fastcdr3Cdr9serializeEj
[ERROR] [ros2_control_node-1]: process has died [pid 251, exit code 127, cmd '/opt/ros/rolling/lib/controller_manager/ros2_control_node --ros-args --params-file /opt/ros/rolling/share/ur_robot_driver/config/ur5e_update_rate.yaml --params-file /tmp/launch_params_cdtxg1uh'].
```

--------------------------------

### Trajectory Passthrough GPIO Configuration

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_controllers/doc/index.md

This XML configuration defines the GPIO setup for trajectory passthrough operations. It specifies command interfaces for positions, velocities, accelerations, transfer state, time from start, and abort signals for each joint. Ensure hardware does not activate these in parallel with streaming interfaces.

```xml
<gpio name="${tf_prefix}trajectory_passthrough">
  <command_interface name="setpoint_positions_0"/>
  <command_interface name="setpoint_positions_1"/>
  <command_interface name="setpoint_positions_2"/>
  <command_interface name="setpoint_positions_3"/>
  <command_interface name="setpoint_positions_4"/>
  <command_interface name="setpoint_positions_5"/>
  <command_interface name="setpoint_velocities_0"/>
  <command_interface name="setpoint_velocities_1"/>
  <command_interface name="setpoint_velocities_2"/>
  <command_interface name="setpoint_velocities_3"/>
  <command_interface name="setpoint_velocities_4"/>
  <command_interface name="setpoint_velocities_5"/>
  <command_interface name="setpoint_accelerations_0"/>
  <command_interface name="setpoint_accelerations_1"/>
  <command_interface name="setpoint_accelerations_2"/>
  <command_interface name="setpoint_accelerations_3"/>
  <command_interface name="setpoint_accelerations_4"/>
  <command_interface name="setpoint_accelerations_5"/>
  <command_interface name="transfer_state"/>
  <command_interface name="time_from_start"/>
  <command_interface name="abort"/>
</gpio>
```

--------------------------------

### Launch UR Driver with Mock Hardware

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/toc.md

This command launches the UR ROS2 driver with mock hardware, utilizing the capability of ros2_control. This is useful for testing without physical hardware.

```console
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true
```

--------------------------------

### Show All Launch Arguments

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_controllers/doc/usage/startup.md

Displays all available arguments for the ur_control.launch.py launch file, allowing for detailed configuration. This command is useful for understanding all customization options.

```bash
$ ros2 launch ur_robot_driver ur_control.launch.py --show-args
```

--------------------------------

### Launch UR Control with Mock Hardware

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/move.md

Launch the UR control with mock hardware enabled, specifying the robot type and initial joint controller. This is useful for testing without a physical robot.

```bash
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e \
    robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true \
    initial_joint_controller:=joint_trajectory_controller
```

--------------------------------

### Start Force Mode Service

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/force_torque_control.md

Starts the force mode controller, allowing for Cartesian-space force and torque control. This service interfaces with the URScript function `force_mode(...)`.

```APIDOC
## Start Force Mode

### Description
Starts the force mode controller for Cartesian-space force and torque control.

### Method
Call Service

### Endpoint
`~/start_force_mode`

### Parameters
#### Service Message (`ur_msgs/srv/SetForceMode`)
- **force_mode_srv** (ur_msgs/srv/SetForceMode) - Required - The service message to start force mode.
  - **axes** (array of int8) - Required - Selection vector determining which axes are force-controlled.
  - **forces** (array of float64) - Required - Desired forces/torques relative to the task frame.
  - **velocities** (array of float64) - Required - Maximum velocities for compliant axes.
  - **task_frame** (array of float64) - Required - Pose of the task frame relative to the robot's base frame.

### Response
#### Success Response
- **success** (bool) - True if the service call was successful.
- **message** (string) - A message indicating the result of the service call.
```

--------------------------------

### Show UR Control Launch Arguments

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/startup.md

This command displays all available arguments for the `ur_control.launch.py` launch file, allowing for further customization.

```bash
ros2 launch ur_robot_driver ur_control.launch.py --show-args
```

--------------------------------

### get_loaded_program

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/dashboard_client.md

Get the name of the currently loaded program.

```APIDOC
## get_loaded_program

### Description
Get the name of the currently loaded program.

### Method
Call

### Endpoint
/get_loaded_program

### Response
#### Success Response (200)
- **program_name** (string) - The name of the currently loaded program.
- **success** (boolean) - True if the program name was retrieved successfully.
- **message** (string) - The response message from the server.
```

--------------------------------

### brake_release

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/dashboard_client.md

Service to release the brakes. If the robot is currently powered off, it will get powered on the fly.

```APIDOC
## brake_release

### Description
Service to release the brakes. If the robot is currently powered off, it will get powered on the fly.

### Method
Call

### Endpoint
/brake_release

### Response
#### Success Response (200)
- **success** (boolean) - True if the brakes were released successfully.
- **message** (string) - The response message from the server.
```

--------------------------------

### power_on

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/dashboard_client.md

Power on the robot motors. To fully start the robot, call ‘brake_release’ afterwards.

```APIDOC
## power_on

### Description
Power on the robot motors. To fully start the robot, call ‘brake_release’ afterwards.

### Method
Call

### Endpoint
/power_on

### Response
#### Success Response (200)
- **success** (boolean) - True if the motors were powered on successfully.
- **message** (string) - The response message from the server.
```

--------------------------------

### get_programs

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/dashboard_client.md

PolyScope X only: Get a list of all programs on the robot. This service is only available on a PolyScope X robot with version >= 10.12.0.

```APIDOC
## get_programs

### Description
**PolyScope X only**: Get a list of all programs on the robot. This service is only available on a PolyScope X robot with version >= 10.12.0.

### Method
Call

### Endpoint
/get_programs

### Response
#### Success Response (200)
- **programs** (list of strings) - A list of all program names on the robot.
- **success** (boolean) - True if the list of programs was retrieved successfully.
- **message** (string) - The response message from the server.
```

--------------------------------

### Launch UR Driver with Tool Communication

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/setup_tool_communication.md

Launch the UR robot driver with tool communication enabled. Ensure your user has write permissions to /tmp/ttyUR.

```bash
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_tool_communication:=true use_mock_hardware:=false launch_rviz:=false
  # remember that your user needs to have the rights to write that file handle to /tmp/ttyUR
```

--------------------------------

### Force Mode Controller Services

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_controllers/doc/index.md

The ForceModeController provides services to start and stop force mode. The controller must be in an active state to use these services.

```APIDOC
## Services

### `~/stop_force_mode`

* **Description**: Stops the force mode.
* **Service Type**: `std_srvs/srv/Trigger`

### `~/start_force_mode`

* **Description**: Starts the force mode with specified parameters.
* **Service Type**: `ur_msgs/srv/SetForceMode`

#### `ur_msgs/srv/SetForceMode` Fields:

* **`task_frame`** (PoseStamped): Pose defining the reference frame for force mode parameters. The `frame_id` must be transformable to the robot's `base` frame.
* **`selection_vector_<x,y,z,rx,ry,rz>`** (array of int): A vector of 6 integers (0 or 1). A '1' indicates compliance along the corresponding axis of the task frame. A '0' indicates stiffness.
* **`wrench`** (WrenchStamped): The desired forces and torques to be applied to the environment in the task frame. Values are ignored for non-compliant axes. Actual wrench may be lower due to joint limits.
* **`type`** (int): Specifies how the force frame is interpreted. Values can be [1, 2, 3].
    * 1: Aligns the force frame's y-axis with the vector from the robot TCP to the force frame origin.
    * 2: The force frame is not transformed.
    * 3: Aligns the force frame's x-axis with the projection of the robot TCP velocity vector onto the force frame's x-y plane.
* **`speed_limits`** (Twist): Maximum allowed TCP speed relative to the task frame. Only relevant for compliant axes.
* **`deviation_limits`** (Twist): Maximum allowed deviation along/about non-compliant axes between the actual TCP position and the program-set position.
* **`damping_factor`** (float): Force mode damping factor, in the range [0, 1]. Default is 0.025. Higher values increase damping.
* **`gain_scaling`** (float): Force mode gain scaling factor, in the range [0, 2]. Default is 0.5. Values > 1 can lead to instability.
```

--------------------------------

### Resume Program in Headless Mode

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/startup.md

If the driver was started with `headless_mode:=true`, use this service call to resend the robot program and resume execution after an interruption.

```bash
$ ros2 service call /io_and_status_controller/resend_robot_program std_srvs/srv/Trigger {}
```

--------------------------------

### Launch UR Driver with Calibration

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage.md

Launches the UR driver with the previously generated calibration correction file. Ensure the `ur_type` matches your robot model and the `kinematics_params_file` points to the correct YAML file.

```bash
$ ros2 launch ur_robot_driver ur_control.launch.py \
  ur_type:=ur5e \
  robot_ip:=192.168.56.101 \
  kinematics_params_file:="${HOME}/my_robot_calibration.yaml"
```

--------------------------------

### Launch ROS 2 Driver with URSim

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/usage/simulation.md

Launch the UR ROS 2 driver, connecting it to the URSim instance. RViz visualization is enabled by default.

```bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=<ur_type> robot_ip:=192.168.56.101 launch_rviz:=true
```

--------------------------------

### Configure C++ Unit Tests with GMock

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/CMakeLists.txt

Sets up Google Mock for C++ unit tests if testing is enabled, linking the test executable against the 'calibration' library.

```cmake
if(BUILD_TESTING)
  find_package(ament_cmake_gmock REQUIRED)

  # Get the first item (it will be the build space version of the build path).
  list(GET ament_index_build_path 0 ament_index_build_path)
  if(WIN32)
    # On Windows prevent CMake errors and prevent it being evaluated as a list.
    string(REPLACE "\\" "/" ament_index_build_path "${ament_index_build_path}")
  endif()

  ament_add_gmock(
          calibration_test
          test/calibration_test.cpp
  )
  target_link_libraries(calibration_test
    calibration
  )
endif()
```

--------------------------------

### Configure Testing with GMock

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_controllers/CMakeLists.txt

Sets up testing infrastructure using ament_cmake_gmock, finding necessary packages and defining test targets.

```cmake
if(BUILD_TESTING)
  find_package(ament_cmake_gmock REQUIRED)
  find_package(controller_manager REQUIRED)
  find_package(hardware_interface REQUIRED)
  find_package(ros2_control_test_assets REQUIRED)

  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
  ament_add_gmock(test_load_force_mode_controller
    test/test_load_force_mode_controller.cpp
  )
  target_link_libraries(test_load_force_mode_controller
    ${PROJECT_NAME}
    controller_manager::controller_manager
    ros2_control_test_assets::ros2_control_test_assets
  )
  ament_add_gmock(test_load_freedrive_mode_controller
    test/test_load_freedrive_mode_controller.cpp
  )
  target_link_libraries(test_load_freedrive_mode_controller
    ${PROJECT_NAME}
    controller_manager::controller_manager
    ros2_control_test_assets::ros2_control_test_assets
  )
  ament_add_gmock(test_load_friction_model_controller
    test/test_load_friction_model_controller.cpp
  )
  target_link_libraries(test_load_friction_model_controller
    ${PROJECT_NAME}
    controller_manager::controller_manager
    ros2_control_test_assets::ros2_control_test_assets
  )
endif()
```

--------------------------------

### Create ROS2 Workspace

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_calibration/doc/installation/installation.md

Sets up the COLCON_WS environment variable and creates the source directory for a new ROS2 workspace.

```bash
export COLCON_WS=~/workspace/ros_ur_driver
mkdir -p $COLCON_WS/src
```

--------------------------------

### Launch UR Control Launch File

Source: https://github.com/universalrobots/universal_robots_ros2_driver/blob/main/ur_controllers/doc/usage/startup.md

Launches the ur_control.launch.py script for the UR robot driver. Requires specifying the robot type and IP address. Ensure the robot is prepared with the External Control URCap and a program.

```bash
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
```