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

README.md

@@ -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:

launch/2xbringup.launch

@@ -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>