Felix Exner (fexner)

### Feature summary API documentation should still be generated using Doxygen, but the usage documentation should be done by Sphinx.

### Feature summary The README is a bit outdated and could use some restructuring, probably in the context of #95

In our examples we use different approaches to initialize the robot. In the full_driver example, tool contact example and spline example we switch the robot off and on which is...

Add sphinx documentation to get a richer user experience

This branch will * Add a full primary client object structure to the client * Read more data from the primary interface * Show users when they send malformed script...

Since we introduced the trajectory interface we should also update the architecture overview.

When building this library inside a colcon workspace and then using this as an underlay workspace for another workspace, rosdep seems not to recognize this package and pulls in the...

As with the reverse interface we've effectively established a communication protocol for external robot control and with further extending this inside #72 it would make sense to document the full...

To ease maintainability, we could try to select boost support on or off during compile time. For this, the code inside [`data_package.h`](https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/include/ur_client_library/rtde/data_package.h) and [`data_package.cpp`](https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/src/rtde/rtde_package.cpp) would need some compile time switches....

Currently, we only support building this library on Linux. This is due to multiple reasons: - Thread priority is handled using the pthread library - Sockets are implemented with the...