r2_bringup.launch 915 Bytes
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<?xml version="1.0"?>
<launch>
    <arg name="kinematics_config" default="$(find twins_utils)/calibrations/r2_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="robot_ip" default="192.168.1.103"/>
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   <arg name="extrude" default="True"/>
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   <!-- ROBOT DRIVER -->
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   <include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
   </include>

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   <!-- MOVEIT WRAPPER -->
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   <include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
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   <!-- EXTRUDER NODE-->
   <node if="$(arg extrude)"
       pkg="extrudex"
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       name="r2_extruder"
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       type="extruder_node.py"
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       args="/dev/ttyACM1"
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       output="screen" />

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</launch>