# 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

# 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 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
```

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
# 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

# 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
```