Commit 7bd4597f authored by Jayant Khatkar's avatar Jayant Khatkar

fix connection error by specifying ports for each arm (#5)

parent f306a78f
......@@ -46,6 +46,9 @@ source ./catkin_ws/devel/setup.zsh
roslaunch launch/r1_bringup.launch
# roslaunch launch/r2_bringup.launch #Cannot do both simultaneously
# NOTE: if the IPs change, add robot_ip:=xxxx to the end of the above commands
# OR to connect to both arms simultaneously
roslaunch launch/2xbringup.launch
```
On the UR tablet do the following steps:
......
......@@ -5,21 +5,26 @@
<arg name="r1_robot_ip" default="192.168.1.101"/>
<arg name="r2_robot_ip" default="192.168.1.103"/>
<!-- ROBOT 1 -->
<group ns="r1">
<include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
<arg name="robot_ip" value="$(arg r1_robot_ip)"/>
<arg name="kinematics_config" value="$(arg r1_kinematics_config)"/>
<arg name="reverse_port" value="50001"/>
<arg name="script_sender_port" value="50002"/>
</include>
<!--include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/-->
</group>
<!--
<!-- ROBOT 2 -->
<group ns="r2">
<include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
<arg name="robot_ip" value="$(arg r2_robot_ip)"/>
<arg name="kinematics_config" value="$(arg r2_kinematics_config)"/>
<arg name="reverse_port" value="50003"/>
<arg name="script_sender_port" value="50004"/>
</include>
<include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
<!--include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/-->
</group>
-->
</launch>
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