2xbringup.launch 2.01 KB
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<?xml version="1.0"?>
<launch>
    <arg name="r1_kinematics_config" default="$(find twins_utils)/calibrations/r1_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
  <arg name="r2_kinematics_config" default="$(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="r1_robot_ip" default="192.168.1.101"/>
   <arg name="r2_robot_ip" default="192.168.1.103"/>
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   <arg name="extrude" default="True"/>
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 <!-- ROBOT 1 -->
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 <group ns="r1">
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   <!-- ROBOT DRIVER -->
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   <include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
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     <arg name="robot_ip" value="$(arg r1_robot_ip)"/>
     <arg name="kinematics_config" value="$(arg r1_kinematics_config)"/>
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     <arg name="reverse_port" value="50003"/>
     <arg name="script_sender_port" value="50004"/>
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   </include>
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   <!-- MOVEIT WRAPPER -->
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   <include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
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   <!-- EXTRUDER NODE-->
   <node if="$(arg extrude)"
       pkg="extrudex"
       name="r1_extruder"
       type="extruder_node.py"
       args="/dev/ttyACM0"
       output="screen" />
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 </group>

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 <!-- ROBOT 2 -->
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 <group ns="r2">
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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 r2_robot_ip)"/>
     <arg name="kinematics_config" value="$(arg r2_kinematics_config)"/>
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     <arg name="reverse_port" value="50001"/>
     <arg name="script_sender_port" value="50002"/>
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   </include>
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   <!-- MOVEIT WRAPPER -->
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   <include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
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   <!-- EXTRUDER NODE-->
   <node if="$(arg extrude)"
       pkg="extrudex"
       name="r2_extruder"
       type="extruder_node.py"
       args="/dev/ttyACM1"
       output="screen" />
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 </group>
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</launch>