Switch to ROS2 Humble

src/draw_svg/launch/robots/lite6_table.launch.py

@@ -59,8 +59,8 @@ def launch_setup(context, *args, **kwargs):
     get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
     robot_description = {
         'robot_description': get_xacro_file_content(
-            #xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
-            xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
+            xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+            #xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
             arguments={
                 'prefix': prefix,
                 'dof': dof,

src/draw_svg/src/py/drawing_surface.py

@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
-"""Example that uses MoveIt 2 to follow a target inside Ignition Gazebo"""
+"""GUI for virtual drawing surface"""
 
 import rclpy
 from geometry_msgs.msg import Pose, PoseWithCovariance, Point
 from nav_msgs.msg import Odometry
 from sensor_msgs.msg import Image as SensorImage
-from pymoveit2 import MoveIt2
 from robots import lite6
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.node import Node