Commit 20f62a76 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

added docs for using the calibration file

parent e47cb668
......@@ -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
```
......@@ -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
......
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