# Twins Controller

Includes the following important components:
- connecting with single arm through ros
- calibration
- connecting with extruder through ros

### Dependencies
- Ubuntu 18
- ROS Melodic
- MoveIt for ROS Melodic
- Miniconda


### Installation
```bash
# get repo
git clone --recurse-submodules https://code.research.uts.edu.au/bigprint/twins-controller.git
cd twins-controller

# create conda env
conda create -n ros python=2.7
conda activate ros

# install depenedencies
sudo apt install ros-melodic-moveit python-rosdep
source /opt/ros/melodic/setup.zsh
rosdep install --from-path catkin_ws/src --ignore-src -y
pip install -r requirements.txt
pip install git+https://code.research.uts.edu.au/bigprint/gcode2contour.git

# make catkin workspace
cd catkin_ws
catkin_make
cd ..
```

### Running on Hardware
```bash
# source catkin workspace in every shell
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 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

# OR to connect to both arms simultaneously
roslaunch launch/2xbringup.launch
```

On the UR tablet do the following steps:
1. Turn tablet on
2. Turn robot on - select bottom left "Power Off"
3. Turn robot on - click ON and then START
3. Run Program
4. Load Program
5. select 'External Controller.urp'
6. Play button (bottom centre-right) > Play from beginning


```bash
# Optional: Launch RViz to Visualise the arm
roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true

# Run the main code
cd src
ipython -i main.py
```

### Running in Simulation

```bash
# Launch simulated ur5e with moveit and visualisation 
roslaunch ur5_e_moveit_config demo.launch

# Run the main code
cd src
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
```