add extrusion for r2 (#5)

README.md

@@ -80,3 +80,14 @@ roslaunch ur5_e_moveit_config demo.launch
 cd src
 ipython -i main.py
 ```
+
+### Debugging
+
+##### Extrusion Port
+Make sure the Extrusion port is set to the correct address. If There is a permission denied
+error, you will need to change the permissions for 'Others' to match the following:
+
+```
+crw-rw-rw- 1 root dialout 166, 0 Jan 29 12:21 /dev/ttyACM0 # This works
+crw-rw---- 1 root dialout 166, 1 Jan 29 12:20 /dev/ttyACM1 # This doesn't
+```

launch/r2_bringup.launch

@@ -16,9 +16,9 @@
    <!-- EXTRUDER NODE-->
    <node if="$(arg extrude)"
        pkg="extrudex"
-       name="r1_extruder"
+       name="r2_extruder"
        type="extruder_node.py"
-       args="/dev/ttyACM0"
+       args="/dev/ttyACM1"
        output="screen" />
 
 </launch>

src/KeyboardController.py

@@ -595,12 +595,13 @@ class KeyboardController(Controller):
 
 if __name__=="__main__":
     #con = KeyboardController(disableExtruder=True)
-    con1 = KeyboardController(disableExtruder=True, robot=1)
-    con2 = KeyboardController(disableExtruder=True, robot=2)
-    #con = KeyboardController()
+    con = KeyboardController()
+    #con1 = KeyboardController(disableExtruder=True, robot=1)
+    #con2 = KeyboardController(disableExtruder=True, robot=2)
 
     print('Collecting configrations...')
-    configuations = con1.prompt_configurations()
-    configuations = con2.prompt_configurations()
+    configuations = con.prompt_configurations()
+    #configuations = con1.prompt_configurations()
+    #configuations = con2.prompt_configurations()
     print('Your configurations:')
     print(configuations)