Adjust timing and paper location

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 = 5.0  # seconds
+        timer_period = 20.0  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
         self.i = 0
 

src/lite6_controller/src/lite6_controller.cpp

@@ -170,12 +170,12 @@ public:
   //
 
   // Set limits for A4 paper
-  float xlim_lower = 0.1;
-  float xlim_upper = 0.3;
-  float ylim_lower = -0.2;
-  float ylim_upper = 0.2;
+  float xlim_lower = 0.2;
+  float xlim_upper = 0.4;
+  float ylim_lower = -0.1;
+  float ylim_upper = 0.1;
   float zlim_lower = 0.1;
-  float zlim_upper = 0.2;
+  float zlim_upper = 0.15;
 
   /**
    * Function that translates an input value with a given range to a value within another range.