Commit f306a78f authored by Jayant Khatkar's avatar Jayant Khatkar

support extursion from the same launch file for single arms

parent d343b540
......@@ -2,11 +2,23 @@
<launch>
<arg name="kinematics_config" default="$(find twins_utils)/calibrations/r1_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="robot_ip" default="192.168.1.101"/>
<arg name="extrude" default="True"/>
<!-- ROBOT DRIVER -->
<include file="$(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>
<!-- MOVEIT WRAPPER -->
<include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
<!-- EXTRUDER NODE-->
<node if="$(arg extrude)"
pkg="extrudex"
name="r1_extruder"
type="extruder_node.py"
args="/dev/ttyACM0"
output="screen" />
</launch>
......@@ -2,11 +2,23 @@
<launch>
<arg name="kinematics_config" default="$(find twins_utils)/calibrations/r2_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="robot_ip" default="192.168.1.103"/>
<arg name="extrude" default="True"/>
<!-- ROBOT DRIVER -->
<include file="$(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>
<!-- MOVEIT WRAPPER -->
<include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
<!-- EXTRUDER NODE-->
<node if="$(arg extrude)"
pkg="extrudex"
name="r1_extruder"
type="extruder_node.py"
args="/dev/ttyACM0"
output="screen" />
</launch>
......@@ -71,7 +71,7 @@ if __name__ == '__main__':
# Printing
con = Controller()
execute_plan(plan2, con, contours=flexirex_contours, confirm=False, n_trajs=50, skip_first=200)
execute_plan(plan2, con, contours=flexirex_contours, confirm=True, n_trajs=10)
# no printing
#con = Controller(disable_extruder=True)
......
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