added docs for using the calibration file

README.md

@@ -8,6 +8,26 @@ Includes the following important components:
 - connecting with extruder through ros: todo
 - printing the whole thing: todo
 
-Required:
+#### Required
 - pynput
 - gcode2contour
+
+#### How to Run
+
+1. Source catkin workspace containing ur_robot_driver
+
+```bash
+source catkin_ws/devel/setup.zsh
+```
+
+2. Run the launch file to connect to the UR5 with the calibration file
+
+```bash
+roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.95 kinematics_config:=$(pwd)/calibration.yaml
+```
+
+3. Run the controller file.
+
+```bash
+ipython -i controller.py
+```

controller.py

@@ -74,7 +74,7 @@ class controller:
         self.traj.publish(traj)
 
 
-    def move_to(self, joint_angles, max_speed = pi/10):
+    def move_to(self, joint_angles, max_speed = pi/100):
         # TODO TODO linear interpolation for larger angles - if needed?
         """
         move the robot to particular joint angle