support extursion from the same launch file for single arms

launch/r1_bringup.launch

@@ -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>

launch/r2_bringup.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>

src/main.py

@@ -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)