Commit d343b540 authored by Jayant Khatkar's avatar Jayant Khatkar

add launch files for easier connection steps to robot arms individually

parent a2c95fb8
......@@ -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:=$(pwd)/calibrations/r1_cal.yaml
# NOTE: the IPs for our two arms are 192.168.1.101 and 192.168.1.103 - use r2_cal.yaml for second robot
roslaunch launch/r1_bringup.launch
# roslaunch launch/r2_bringup.launch #Cannot do both simultaneously
# NOTE: if the IPs change, add robot_ip:=xxxx to the end of the above commands
```
On the UR tablet do the following steps:
......@@ -58,9 +59,6 @@ On the UR tablet do the following steps:
```bash
# Launch MoveIt around the controller service
roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
# Optional: Launch RViz to Visualise the arm
roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true
......
......@@ -6,7 +6,7 @@
<arg name="r2_robot_ip" default="192.168.1.103"/>
<group ns="r1">
<include file="$(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="$(arg r1_kinematics_config)"/>
</include>
......
<?xml version="1.0"?>
<launch>
<arg name="kinematics_config" default="$(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>
<?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>
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