Good morning,

I am a beginner using ROS and I want to build a system to have Real-Time control of the positions of the end effector of a robotic manipulator UR5: given that I want to use it for teleoperation, I don't need trajectory planning, because I will give the positions to the manipulator for each iteration. How can this result be achieved in ROS? If I understood well, I should I use ROS2, but it's not really clear why: using a pub-sub structure in ROS 2 will be enough to ensure the real-time, or which tools should I use?

Thanks.