Improve package docs

src/axidraw_controller/README.md

@@ -1,10 +1,8 @@
-# Axidraw controller
+# axidraw controller
 
-## High-level python api
+Implements robot_controller for the Axidraw robot.
 
-https://axidraw.com/doc/py_api/
+`axidraw_serial.py` is used to communicate with the robot using the python API.
+If more direct control is desired, this can be implemented by sending serial commands directly to the [EBB control board](http://evil-mad.github.io/EggBot/ebb.html) of the Axidraw.
 
-## Low-level serial API
-
-Can be used to send commands directly to the Axidraw controller board over serial.
-http://evil-mad.github.io/EggBot/ebb.html
+On linux systems the board appears on `/dev/ttyACM0`.

src/draw_svg/README.md

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+# draw_svg
+WILL BE REMOVED
+
+Contains initial testing of libraries and launch files.

src/lite6_controller/README.md

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+# lite6 controller
+
+Implements robot_controller for the xArm lite6 robot.
+
+- web interface: http://192.168.1.150:18333
+
+## free drive mode
+This mode should allow the robot to be positioned by hand, this can be used for a homing procedure.
+https://github.com/xArm-Developer/xarm_ros#6-mode-change
+
+I have not found a way to access the button on the robot arm in code.

src/robot_controller/README.md

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+# Robot controller
+
+This package contains the `robot_controller` interface.
+It also contains a `dummy_controller` that can be used for testing or reference.

src/robot_interfaces/README.md

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+# Robot interfaces for drawing robot
+
+Contains the custom messges, services, and actions used in the project.