add launch files for easier connection steps to robot arms individually

README.md

@@ -43,8 +43,9 @@ source ./catkin_ws/devel/setup.zsh
 ### Run the following 2 or 3 commands in separate tabs
 
 # Connect to the UR5e and launch a controller service
-roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.101 kinematics_config:=$(pwd)/calibrations/r1_cal.yaml
-# NOTE: the IPs for our two arms are 192.168.1.101 and 192.168.1.103 - use r2_cal.yaml for second robot
+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
 ```
 
 On the UR tablet do the following steps:
@@ -58,9 +59,6 @@ On the UR tablet do the following steps:
 
 
 ```bash
-# Launch MoveIt around the controller service
-roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
-
 # Optional: Launch RViz to Visualise the arm
 roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true
 

launch/2xbringup.launch

@@ -6,7 +6,7 @@
    <arg name="r2_robot_ip" default="192.168.1.103"/>
 
  <group ns="r1">
-   <include file="$(find ur_robot_driver)/launch/r1_bringup.launch">
+   <include file="$(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)"/>
    </include>

launch/r1_bringup.launch

+<?xml version="1.0"?>
+<launch>
+    <arg name="kinematics_config" default="$(find twins_utils)/calibrations/r1_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+   <arg name="robot_ip" default="192.168.1.101"/>
+
+   <include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
+     <arg name="robot_ip" value="$(arg robot_ip)"/>
+     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
+   </include>
+
+   <include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
+</launch>

launch/r2_bringup.launch

+<?xml version="1.0"?>
+<launch>
+    <arg name="kinematics_config" default="$(find twins_utils)/calibrations/r2_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+   <arg name="robot_ip" default="192.168.1.103"/>
+
+   <include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
+     <arg name="robot_ip" value="$(arg robot_ip)"/>
+     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
+   </include>
+
+   <include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
+</launch>