From aaf6d90c76de8406882e47a5f2b22fffdc0836e4 Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Mon, 14 Nov 2022 11:45:08 +0200 Subject: [PATCH] Small fixes --- src/draw_svg/launch/lite6_pen.launch.py | 11 ++++++++--- src/draw_svg/src/py/drawing_surface.py | 2 +- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/src/draw_svg/launch/lite6_pen.launch.py b/src/draw_svg/launch/lite6_pen.launch.py index 06bbcfb..00b68e7 100644 --- a/src/draw_svg/launch/lite6_pen.launch.py +++ b/src/draw_svg/launch/lite6_pen.launch.py @@ -125,11 +125,16 @@ def launch_setup(context, *args, **kwargs): arguments=["--ros-args", "--log-level", log_level], parameters=[{"use_sim_time": use_sim_time}], ), + Node( + package="draw_svg", + executable="drawing_surface.py", + output="log", + arguments=["--ros-args", "--log-level", log_level], + parameters=[{"use_sim_time": use_sim_time}], + ), ] - return [ - nodes[0], - nodes[1], + return nodes + [ robot_moveit_common_launch, robot_gazebo_launch, ] diff --git a/src/draw_svg/src/py/drawing_surface.py b/src/draw_svg/src/py/drawing_surface.py index 26fc9a5..c303b02 100755 --- a/src/draw_svg/src/py/drawing_surface.py +++ b/src/draw_svg/src/py/drawing_surface.py @@ -45,7 +45,7 @@ class DrawingApp(tk.Tk): print("last_point->x:{} y:{} z:{}".format(p.x, p.y, p.z)) r = 5 x = translate(p.x, -1.0, 0.5, 0, 400) - y = translate(p.y, -1.0, 0.5, 0, 400) + y = translate(p.y, 0.5, -1.0, 0, 400) self.create_circle(x,y,r, fill="red") self.after(10, lambda: self.read_queue())