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bigprint
twins-controller
Commits
7bd4597f
Commit
7bd4597f
authored
Jan 21, 2021
by
Jayant Khatkar
Browse files
fix connection error by specifying ports for each arm (
#5
)
parent
f306a78f
Changes
2
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README.md
View file @
7bd4597f
...
...
@@ -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
View file @
7bd4597f
...
...
@@ -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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