Import example code and basic prototype

src/draw_svg/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(draw_svg)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+#find_package(ign_moveit2_examples REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+
+#add_executable(draw_svg src/draw_svg.cpp)
+#target_include_directories(draw_svg PUBLIC
+#  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+#  $<INSTALL_INTERFACE:include>)
+#target_compile_features(draw_svg PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+#ament_target_dependencies(
+#  draw_svg
+#  "ign_moveit2_examples"
+#)
+#install(TARGETS draw_svg
+#  DESTINATION lib/${PROJECT_NAME})
+
+# Install Python
+set(SRC_PY_DIR src/py)
+install(PROGRAMS
+    ${SRC_PY_DIR}/draw_svg.py
+    ${SRC_PY_DIR}/follow.py
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Install directories
+install(DIRECTORY launch rviz worlds DESTINATION share/${PROJECT_NAME})
+
+ament_package()