Dual ur5e joystick teleoperation and Data Collection Startup Sequence

Each command should be run in a separate terminal. Please start in the following order:

1. Navigate to the folder:

   cd /home/username/demo_ws

   • src/

     • Bimanual_Universal_Robots_ur5e_ROS_Driver/ https://github.com/Denghaoyuan123/Bimanual_Universal_Robots_ur5e_ROS_Driver

     • realsense-ros/ https://github.com/IntelRealSense/realsense-ros

     • This repo/ https://github.com/Denghaoyuan123/Bimanual_ur5e_joystick_control

2. Open Terminator and start in the following sequence:

   • Terminal 1: Start communication for Arm 1

     roslaunch ur_robot_driver ur5e_bringup1.launch ns:=robot1 robot_ip:=xxx reverse_port:=50001 script_sender_port:=50002 trajectory_port:=50003 script_command_port:=50004

   • Terminal 2: Request service for Arm 1

     rosservice call /robot1/controller_manager/switch_controller "start_controllers: ['joint_group_vel_controller']
     stop_controllers: ['scaled_pos_joint_traj_controller']
     strictness: 2
     start_asap: false
     timeout: 0.0"

   • Terminal 3: Start communication for Arm 2

     roslaunch ur_robot_driver ur5e_bringup1.launch ns:=robot2 robot_ip:=xxx reverse_port:=50011 script_sender_port:=50012 trajectory_port:=50013 script_command_port:=50014

   • Terminal 4: Request service for Arm 2

     rosservice call /robot2/controller_manager/switch_controller "start_controllers: ['joint_group_vel_controller']
     stop_controllers: ['scaled_pos_joint_traj_controller']
     strictness: 2
     start_asap: false
     timeout: 0.0"

   • Terminal 5: Start the cameras

     roslaunch realsense2_camera rs_aligned_depth.launch

   • Terminal 6: Start remote control (need to prepare two joysticks)

     roslaunch ur5e_joystick_control ur5e_joystick_control.launch

   • Terminal 7: For each trajectory, set a new path: demo_01, demo_02, demo_03

     rosrun ur5e_joystick_control demo_database_dualarm.py --result_path /path/to/your/demo/demo_20