#!/bin/bash
# Launch Docker container for ur-driver. TO BE DEPRECATED.
ROS_DISTRO=jazzy
UR_TYPE="ur3e"
ROBOT_IP=10.66.218.141
REVERSE_IP=10.66.218.39
# The volume mount may not be necessary, but I'm not sure re socat.
docker run -it --network host --ipc=host --pid=host\
--env ROBOT_IP=$ROBOT_IP \
--env REVERSE_IP=$REVERSE_IP \
-v /tmp/ttyUR:/tmp/ttyUR \
ghcr.io/nsls2/ur-hande-draft:latest \
/bin/bash -c ". /root/ws/install/setup.sh && \
ros2 launch ur_hande_moveit_config ur_control_hande.launch.py \
ur_type:=${UR_TYPE} robot_ip:=${ROBOT_IP} launch_rviz:=false description_package:=ur3e_hande_description \
use_tool_communication:=false tool_voltage:=24"