#EGG HANDLING
#Run a controller for the Schunk Gripper roslaunch schunk_ezn64 ezn64_usb_control.launch
#Opening port for the gripper (last nums might be different or all nums, check the terminal window)
sudo chmod 666 /dev/bus/usb/001/013
#Using rosservice Reference the gripper
rosservice call /schunk_ezn64/reference
#[Optional] If errors acknowledge them
rosservice call /schunk_ezn64/acknowledge_error
#Laucn node to recieve the values from the Arduino and Force Sensor (FSR)
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=9600
#Launch Server to handle values recieved from the DualSense Controller and publish them to the topics
python3 /home/dimash/Dimash/Server_DualSenseControl.py
#Launch Client that is getting values of the DualSense and recieves values for Force Feedback from FSR
sudo python3 /home/dimash/Dimash/Client_DualSenseControl.py
#UR10 modern driver: improving usability as well as enabling compatibility of ros_control
roslaunch ur_modern_driver ur10_bringup.launch robot_ip:=192.168.1.103
#Run your python script to bring the robot to the specified location
rosrun calibrate_rgb_sensor_rustam move_robot_back_rustam.py
#How to change initial position and orientation of UR10
#manually move the robot via UR5 teach pendant #check rostopic echo /joint_states #copy the position to move_robot_back.py
#Launch Bar Graph for FSR vizualizations
python /home/dimash/Dimash/BarFSR.py
python /home/dimash/Dimash/Data_Recorder.py
#moveit: planning capability
roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch
#source your environment
source ~/catkin_ws/devel/setup.bash
#RUN a node to control the robot #Listener for the UR5
rosrun move_ur_sim desired_velocities_node
#Main programs for experiments
rosrun calibrate_rgb_sensor_rustam ur5_nsh_experiment