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This commit is contained in:
Nicolas Hiillos
2023-01-10 15:49:13 +02:00
parent 3fe0ab12c3
commit 0e2efc3980
3 changed files with 14 additions and 5 deletions
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9
README.md
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@@ -12,6 +12,8 @@ ros2 launch draw_svg draw_svg.launch.py
## xArm lite6 ## xArm lite6
- web interface: http://192.168.1.150:18333 - web interface: http://192.168.1.150:18333
free drive mode: https://github.com/xArm-Developer/xarm_ros#6-mode-change
## ROS2 rpi4 ## ROS2 rpi4
https://github.com/ros-realtime/ros-realtime-rpi4-image/releases https://github.com/ros-realtime/ros-realtime-rpi4-image/releases
@@ -31,3 +33,10 @@ apt update && apt upgrade
apt install ros-dev-tools 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
```

6
src/drawing_controller/drawing_controller/drawing_controller.py
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@@ -58,7 +58,7 @@ class DrawingController(Node):
def __init__(self, svgpath): def __init__(self, svgpath):
super().__init__('drawing_controller') super().__init__('drawing_controller')
#self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10) #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.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0 self.i = 0
@@ -125,10 +125,10 @@ class DrawingController(Node):
p1 = self.map_point(next_line[0][0],next_line[0][1]) p1 = self.map_point(next_line[0][0],next_line[0][1])
p2 = self.map_point(next_line[1][0],next_line[1][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.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, p1, 0.1)
self.append_point(motion, p2, 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.i = (self.i + 1) % len(self.lines)
self.get_logger().info('Executing motion:{}'.format(motion.path)) self.get_logger().info('Executing motion:{}'.format(motion.path))

4
src/lite6_controller/src/lite6_controller.cpp
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@@ -54,7 +54,7 @@ public:
std::vector<geometry_msgs::msg::Pose> waypoints; std::vector<geometry_msgs::msg::Pose> waypoints;
waypoints.push_back(move_group.getCurrentPose().pose); //waypoints.push_back(move_group.getCurrentPose().pose);
for (auto p : goal->motion.path) for (auto p : goal->motion.path)
waypoints.push_back(p.pose); 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 // https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html
const double jump_threshold = 0.0; 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); 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); RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);