Misc changes

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
+```

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))

src/lite6_controller/src/lite6_controller.cpp

@@ -54,7 +54,7 @@ public:
 
     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)
       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);