ROS 1 differences

ROS 1 remains an alternative camera and GTA command backend. It is not the dashboard-managed execution path documented in the main hardware tutorial.

Setting or behavior	ROS 1
Camera	CAMERA_BACKEND=ros1, with rospy and sensor_msgs
Commands and gripper	GTA_BACKEND=ros1
ROS master	ROSMASTER_IP, ROSMASTER_PORT; an existing environment URI can take precedence
Robotiq action	/ur5/move_gripper, supplied by robotiq_mm_ros
Gripper goals	Open 0.085 m, half-open 0.06 m, closed 0.0 m; velocity 0.05; force 165
Managed Run / GUI helpers	Not supported for ROS 1

Source a compatible ROS 1 and robot workspace that supplies rospy, actionlib, actionlib_msgs, and the required Robotiq messages. Do not mix ROS 1 and ROS 2 package paths in one interpreter without a deliberately validated environment.

The command topics and basic payload shapes match the ROS contract, but lifecycle/QoS and force-deactivation details differ. ROS 2 subscriber discovery and reliable keep-last QoS settings do not apply to ROS 1.

Camera selection remains independent: selecting a ROS camera does not automatically select the robot middleware. The ROS 2 full-topic override settings are not a ROS 1 camera override mechanism.

Use the selected server launcher only in a reviewed standalone workflow. Standalone robot/gripper utilities may move hardware immediately and do not acquire the dashboard execution lock.

See device interfaces for the implementation boundaries and troubleshooting for ownership and shutdown issues.