From 0e2efc39807faf50bd32db50f82a9e7499ace213 Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Tue, 10 Jan 2023 15:49:13 +0200 Subject: [PATCH] Misc changes --- README.md | 9 +++++++++ .../drawing_controller/drawing_controller.py | 6 +++--- src/lite6_controller/src/lite6_controller.cpp | 4 ++-- 3 files changed, 14 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 0441ec2..e13f070 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,8 @@ ros2 launch draw_svg draw_svg.launch.py ## xArm lite6 - web interface: http://192.168.1.150:18333 + +free drive mode: https://github.com/xArm-Developer/xarm_ros#6-mode-change ## ROS2 rpi4 https://github.com/ros-realtime/ros-realtime-rpi4-image/releases @@ -31,3 +33,10 @@ apt update && apt upgrade apt install ros-dev-tools ``` + + +### Access xarm webUI from different network +If connected to the pi on 192.168.22.199, one can forward the webUI to localhost:8080 with the following: +``` sh +ssh -L 8080:192.168.1.150:18333 ubuntu@192.168.22.199 +``` diff --git a/src/drawing_controller/drawing_controller/drawing_controller.py b/src/drawing_controller/drawing_controller/drawing_controller.py index 783a7f6..beca1f8 100644 --- a/src/drawing_controller/drawing_controller/drawing_controller.py +++ b/src/drawing_controller/drawing_controller/drawing_controller.py @@ -58,7 +58,7 @@ class DrawingController(Node): def __init__(self, svgpath): super().__init__('drawing_controller') #self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10) - timer_period = 7.0 # seconds + timer_period = 20.0 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 @@ -125,10 +125,10 @@ class DrawingController(Node): p1 = self.map_point(next_line[0][0],next_line[0][1]) p2 = self.map_point(next_line[1][0],next_line[1][1]) self.get_logger().info('Drawing line with p1:{} p2:{}'.format(p1,p2)) - self.append_point(motion, p1, 0.5) + self.append_point(motion, p1, 0.2) self.append_point(motion, p1, 0.1) self.append_point(motion, p2, 0.1) - self.append_point(motion, p2, 0.5) + self.append_point(motion, p2, 0.2) self.i = (self.i + 1) % len(self.lines) self.get_logger().info('Executing motion:{}'.format(motion.path)) diff --git a/src/lite6_controller/src/lite6_controller.cpp b/src/lite6_controller/src/lite6_controller.cpp index e0bb497..80afddc 100644 --- a/src/lite6_controller/src/lite6_controller.cpp +++ b/src/lite6_controller/src/lite6_controller.cpp @@ -54,7 +54,7 @@ public: std::vector waypoints; - waypoints.push_back(move_group.getCurrentPose().pose); + //waypoints.push_back(move_group.getCurrentPose().pose); for (auto p : goal->motion.path) waypoints.push_back(p.pose); @@ -64,7 +64,7 @@ public: // https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html const double jump_threshold = 0.0; - const double eef_step = 0.000001; + const double eef_step = 0.001; double fraction = this->move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory); RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);