ROS2 script commands to UR

[Hytac]

Hello, im migrating my application to ROS2 and im facing some problems sending script commands to the UR.
In ROS we used to have something like this:
command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);

void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
if (ur_driver_->sendScript(str))

So i can simple publish my command into the topic script_command.

Now in ROS2 i can not find anything like this. How do you guys send commands to the UR?
KR

[fmauch]

This is currently not (yet) implemented.

Please see #251 for that.

[fmauch]

I'll lock this discussion to keep everything for that inside the issue.