Commit b06e7e02 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

add extrusion for r2 (#5)

parent c26561a1
...@@ -80,3 +80,14 @@ roslaunch ur5_e_moveit_config demo.launch ...@@ -80,3 +80,14 @@ roslaunch ur5_e_moveit_config demo.launch
cd src cd src
ipython -i main.py 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
```
...@@ -16,9 +16,9 @@ ...@@ -16,9 +16,9 @@
<!-- EXTRUDER NODE--> <!-- EXTRUDER NODE-->
<node if="$(arg extrude)" <node if="$(arg extrude)"
pkg="extrudex" pkg="extrudex"
name="r1_extruder" name="r2_extruder"
type="extruder_node.py" type="extruder_node.py"
args="/dev/ttyACM0" args="/dev/ttyACM1"
output="screen" /> output="screen" />
</launch> </launch>
...@@ -595,12 +595,13 @@ class KeyboardController(Controller): ...@@ -595,12 +595,13 @@ class KeyboardController(Controller):
if __name__=="__main__": if __name__=="__main__":
#con = KeyboardController(disableExtruder=True) #con = KeyboardController(disableExtruder=True)
con1 = KeyboardController(disableExtruder=True, robot=1) con = KeyboardController()
con2 = KeyboardController(disableExtruder=True, robot=2) #con1 = KeyboardController(disableExtruder=True, robot=1)
#con = KeyboardController() #con2 = KeyboardController(disableExtruder=True, robot=2)
print('Collecting configrations...') print('Collecting configrations...')
configuations = con1.prompt_configurations() configuations = con.prompt_configurations()
configuations = con2.prompt_configurations() #configuations = con1.prompt_configurations()
#configuations = con2.prompt_configurations()
print('Your configurations:') print('Your configurations:')
print(configuations) print(configuations)
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