Small fixes

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,
     ]

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())