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Nicolas Hiillos
2023-01-11 15:56:39 +02:00
parent bec77bb5b6
commit 876f429d5e
3 changed files with 4 additions and 1 deletions
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1
README.md
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@@ -7,6 +7,7 @@ Requirements:
- python3-pil.imagetk - python3-pil.imagetk
- ros-humble-moveit - ros-humble-moveit
- ros-humble-ros-gz - ros-humble-ros-gz
- ignition-fortress
``` sh ``` sh
./rebuild.sh ./rebuild.sh

2
src/axidraw_controller/README.md
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@@ -2,7 +2,7 @@
Implements robot_controller for the Axidraw robot. Implements robot_controller for the Axidraw robot.
`axidraw_serial.py` is used to communicate with the robot using the python API. `axidraw_serial.py` is used to communicate with the robot using the [python API](https://axidraw.com/doc/py_api).
If more direct control is desired, this can be implemented by sending serial commands directly to the [EBB control board](http://evil-mad.github.io/EggBot/ebb.html) of the Axidraw. If more direct control is desired, this can be implemented by sending serial commands directly to the [EBB control board](http://evil-mad.github.io/EggBot/ebb.html) of the Axidraw.
On linux systems the board appears on `/dev/ttyACM0`. On linux systems the board appears on `/dev/ttyACM0`.

2
src/axidraw_controller/src/cpp/axidraw_controller.cpp
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@@ -48,6 +48,7 @@ class AxidrawController : public RobotController
path_pub = this->create_publisher<robot_interfaces::msg::Points>("axidraw_path", 10); path_pub = this->create_publisher<robot_interfaces::msg::Points>("axidraw_path", 10);
} }
// Return true if axidraw is ready
bool is_ready() bool is_ready()
{ {
auto request = std::make_shared<robot_interfaces::srv::Status::Request>(); auto request = std::make_shared<robot_interfaces::srv::Status::Request>();
@@ -85,6 +86,7 @@ class AxidrawController : public RobotController
return point; return point;
} }
// Translate all poses in a vector
std::vector<geometry_msgs::msg::Point> translate_poses(std::vector<geometry_msgs::msg::PoseStamped> ps) std::vector<geometry_msgs::msg::Point> translate_poses(std::vector<geometry_msgs::msg::PoseStamped> ps)
{ {
std::vector<geometry_msgs::msg::Point> points; std::vector<geometry_msgs::msg::Point> points;