Update readme

Dockerfile

@@ -12,8 +12,6 @@ ENV WS_INSTALL_DIR=${WS_DIR}/install
 ENV WS_LOG_DIR=${WS_DIR}/log
 WORKDIR ${WS_DIR}
 
-COPY config.yaml ${WS_DIR}/
-
 ### Install Gazebo
 ARG IGNITION_VERSION=fortress
 ENV IGNITION_VERSION=${IGNITION_VERSION}
@@ -27,9 +25,6 @@ RUN apt-get update && \
     apt-get install -yq python3-pil.imagetk && \
     apt-get install -yq ros-${ROS_DISTRO}-pilz-industrial-motion-planner && \
     apt-get install -yq tmux && \
-    apt-get install -yq nano && \
-    apt-get install -yq vim && \
-    apt-get install -yq less && \
     apt-get install -yq python3-pip && \
     apt-get install -yq ros-${ROS_DISTRO}-desktop && \
     apt-get install -yq ros-${ROS_DISTRO}-rclcpp-components
@@ -54,6 +49,7 @@ RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
     rm -rf ${WS_LOG_DIR}
 
 # Build packages
+COPY ./src/draw_svg ${WS_SRC_DIR}/draw_svg
 COPY ./src/drawing_controller ${WS_SRC_DIR}/drawing_controller
 COPY ./src/axidraw_controller ${WS_SRC_DIR}/axidraw_controller
 COPY ./src/virtual_drawing_surface ${WS_SRC_DIR}/virtual_drawing_surface
@@ -63,7 +59,7 @@ RUN pip install -r ${WS_SRC_DIR}/virtual_drawing_surface/requirements.txt
 RUN apt-get update
 RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
     source "${WS_INSTALL_DIR}/local_setup.bash" && \
-    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/drawing_controller ${WS_SRC_DIR}/axidraw_controller ${WS_SRC_DIR}/virtual_drawing_surface && \
+    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/draw_svg ${WS_SRC_DIR}/drawing_controller ${WS_SRC_DIR}/axidraw_controller ${WS_SRC_DIR}/virtual_drawing_surface && \
     rm -rf ${WS_LOG_DIR}
 
 # Build lite6 and xarm packages
@@ -80,7 +76,7 @@ RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
     rm -rf ${WS_LOG_DIR}
 
 # Copy example svg images
-COPY ./svg test-images
+COPY ./svg svg
 
 ### Add workspace to the ROS entrypoint
 ### Source ROS workspace inside `~/.bashrc` to enable autocompletion

README.md

@@ -29,43 +29,18 @@ docker builder prune --all --force
 bash .docker/run.bash
 ```
 
+### Develop 
 If active changes are being made, run:
 ``` sh
 bash .docker/devel.bash
 ```
 This will mount the host `drawing-robot-ros2` directory in the container at `src/drawing-robot-ros2`.
 
-Optionally you can pass a directory to the container with
+So to test changes in the container
 ``` sh
-bash .docker/run.bash -v PATH_TO_SVG:/svg:rw
+cd src/drawing-robot-ros2/src
-```
+colcon build
-This will mount the given path to /svg in read-write mode in the container.
+source install/local_setup.bash
-
-
-#### Podman issues
-If using podman instead of docker, using the following will allow the container to access `/dev/` which is needed by the axidraw robot. 
-``` sh
-sudo bash .docker/build.bash
-```
-``` sh
-sudo bash .docker/devel.bash
-```
-Adding sudo may cause gazebo not to work, so it is recommended to use docker instead of podman.
-
-## TODO Building locally
-
-Requirements:
-- python3-pip 
-- python3-pil.imagetk
-- ros-humble-moveit
-- ros-humble-ros-gz
-- ignition-fortress
-
-``` sh
-./rebuild.sh
-```
-``` sh
-source src/install/local_setup.bash
 ```
 
 ## Running
@@ -77,42 +52,26 @@ DummyController echoes Motion messages to the terminal.
 ros2 run robot_controller dummy_controller
 ```
 
-### AxidrawController
+AxidrawController draws on the axidraw robot
-AxidrawController draws on the axidraw robot.
-Find the serial device in "/dev/", it is usually named "/dev/ttyACMX" where X is usually 0.
-Try a different serial port if the axidraw_controller continuously logs a message about failing to connect.
 ``` sh
-ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0 config:=./config.yaml
+ros2 launch axidraw_controller axidraw_controller
 ```
 
-### Lite6Controller
 This starts the simulated lite6
 ``` sh
-ros2 launch lite6_controller lite6_gazebo.launch.py config:=./config.yaml
+ros2 launch lite6_controller lite6_gazebo.launch.py
 ```
 
 This runs the real lite6
 ``` sh
-ros2 launch lite6_controller lite6_real.launch.py config:=./config.yaml
+ros2 launch lite6_controller lite6_real.launch.py
 ```
 
 This runs the real lite6 without Rviz (can be run on headless device over ssh)
 ``` sh
-ros2 launch lite6_controller lite6_real_no_gui.launch.py config:=./config.yaml
+ros2 launch lite6_controller lite6_real_no_gui.launch.py
 ```
 
-Before using the real lite6, it is recommended to run the calibration program.
-A lite6_controller must be running for calibration.
-This can be used to measure the Z height for a specific pen.
-The program also moves the arm to a known default position.
-``` sh
-ros2 run lite6_controller lite6_calibration
-```
-Follow the instructions, pressing enter when prompted.
-
-Change the Z-offset value accordingly.
-Restart the running lite6_controller after calibration.
-
 ### DrawingController
 Once a RobotController is running, simultaneously (using tmux or another terminal) run
 ``` sh
@@ -120,23 +79,6 @@ ros2 run drawing_controller drawing_controller svg/test.svg
 ```
 This will draw the svg image given as the last argument.
 
-### tmux workflow
-lite6 interface: http://192.168.1.150:18333
-
-#### Raspberry pi
-On the raspberry pi run 
-``` sh
-./setup_ros.sh
-```
-This will open a tmux session with the necessary ros2 packages sourced.
-#### Docker container
-``` sh
-tmux
-```
-
-If actively
-
-
 ## SVG compatibility info
 Tested with SVG from the following programs
 - Inkscape
@@ -227,7 +169,7 @@ And the following SVG path commands are supported:
 | MoveTo                 |  M, m             |             |
 | LineTo                 |  L, l, H, h, V, v |             |
 | Cubic Bézier Curve     |  C, c, S, s       |             |
-| Quadratic Bézier Curve |  Q, q             | T, t        |
+| Quadratic Bézier Curve |                   | Q, q, T, t  |
 | Elliptical Arc Curve   |                   | A, a        |
 | ClosePath              |  Z, z             |             |
 

config.yaml

@@ -1,26 +0,0 @@
-/robot_controller:
-  ros__parameters:
-    lite6_x_limit_lower: 0.1
-    lite6_x_limit_upper: 0.305
-    lite6_y_limit_lower: -0.1475
-    lite6_y_limit_upper: 0.1475
-
-    lite6_z_lift_amount: 0.01
-    lite6_z_offset: 0.201942
-
-    lite6_blend_radius: 0.0
-    lite6_max_velocity_scaling_factor: 1.0
-    lite6_max_acceleration_scaling_factor: 0.9
-
-/axidraw_serial:
-  ros__parameters:
-    axidraw_accel: 100
-    axidraw_speed_pendown: 50
-    axidraw_speed_penup: 50
-    axidraw_const_speed: false
-    axidraw_pen_delay_down: 0
-    axidraw_pen_delay_up: 0
-    axidraw_pen_pos_down: 40
-    axidraw_pen_pos_up: 60
-    axidraw_pen_rate_lower: 50
-    axidraw_pen_rate_raise: 75

scripts/log_drawing.sh

@@ -1,12 +0,0 @@
-#!/usr/bin/env sh
-# Logs drawn images
-# ./log_drawing.sh ROBOTNAME SVG
-# ROBOTNAME: robot name (logged before output)
-# SVG: svg path to be drawn
-
-date >> data.txt
-echo $1 >> data.txt
-ros2 run drawing_controller drawing_controller $2 2>&1 | grep 'Results' | tee -a data.txt
-echo '\n' >> data.txt
-
-#{'svg processing time': '00:00:02', 'failure': 65, 'total time': '00:00:09', 'drawing time': '00:00:06'}

src/axidraw_controller/CMakeLists.txt

@@ -40,11 +40,6 @@ install(PROGRAMS
     DESTINATION lib/${PROJECT_NAME}
 )
 
-install(DIRECTORY
-  config
-  DESTINATION share/${PROJECT_NAME}
-)
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

src/axidraw_controller/config/config.yaml

@@ -1,12 +0,0 @@
-/axidraw_serial:
-  ros__parameters:
-    axidraw_accel: 100
-    axidraw_const_speed: false
-    axidraw_pen_delay_down: 0
-    axidraw_pen_delay_up: 0
-    axidraw_pen_pos_down: 40
-    axidraw_pen_pos_up: 60
-    axidraw_pen_rate_lower: 50
-    axidraw_pen_rate_raise: 75
-    axidraw_speed_pendown: 50
-    axidraw_speed_penup: 50

src/axidraw_controller/launch/axidraw_controller.launch.py

@@ -1,5 +1,4 @@
 import os
-import yaml
 from launch import LaunchDescription
 from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -19,13 +18,6 @@ def launch_setup(context, *args, **kwargs):
     serial_port = LaunchConfiguration('serial_port', default='/dev/ttyACM0')
     log_level = LaunchConfiguration("log_level", default='info')
 
-    config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('axidraw_controller'), 'config', 'config.yaml']))
-
-    robotcontroller_config = config.perform(context)
-    with open(robotcontroller_config, 'r') as f:
-        axidraw_config = yaml.safe_load(f)['/axidraw_serial']['ros__parameters']
-        print(f'Loaded configuration: {axidraw_config}')
-
     nodes = [
         Node(
             package="axidraw_controller",
@@ -42,7 +34,6 @@ def launch_setup(context, *args, **kwargs):
             arguments=["--ros-args", "--log-level", log_level],
             parameters=[
                 {"serial_port": serial_port},
-                axidraw_config,
             ],
         ),
     ]

src/axidraw_controller/src/cpp/axidraw_controller.cpp

@@ -162,7 +162,7 @@ class AxidrawController : public RobotController
         this->penup_pub->publish(std_msgs::msg::Empty());
       else
       {
-        //this->pendown_pub->publish(std_msgs::msg::Empty());
+        this->pendown_pub->publish(std_msgs::msg::Empty());
         while (i + count + 1 < points.size() && points[i + count + 1].z <= 0)
         {
           count++;

src/axidraw_controller/src/py/axidraw_serial.py

@@ -42,7 +42,6 @@ class AxidrawSerial(Node):
     status = {
         "serial": "not ready",
         "motion": "waiting",
-        "pen": "up",
     }
 
     def init_serial(self, port):
@@ -61,22 +60,9 @@ class AxidrawSerial(Node):
             return False
         self.ad.options.units = 2            # set working units to mm.
         self.ad.options.model = 2            # set model to AxiDraw V3/A3
-
-        self.ad.options.speed_pendown = self.get_parameter('axidraw_speed_pendown').get_parameter_value().integer_value # Maximum XY speed when the pen is down (plotting).
-        self.ad.options.speed_penup = self.get_parameter('axidraw_speed_penup').get_parameter_value().integer_value # Maximum XY speed when the pen is up.
-        self.ad.options.accel = self.get_parameter('axidraw_accel').get_parameter_value().integer_value  # Relative acceleration/deceleration speed.
-        #self.get_logger().error('accel:{}'.format(self.get_parameter('axidraw_accel').get_parameter_value().integer_value))
-        self.ad.options.pen_pos_down = self.get_parameter('axidraw_pen_pos_down').get_parameter_value().integer_value #Pen height when the pen is down (plotting).
-        self.ad.options.pen_pos_up = self.get_parameter('axidraw_pen_pos_up').get_parameter_value().integer_value #Pen height when the pen is up.
-        self.ad.options.pen_rate_lower = self.get_parameter('axidraw_pen_rate_lower').get_parameter_value().integer_value #  Speed of lowering the pen-lift motor.
-        self.ad.options.pen_rate_raise = self.get_parameter('axidraw_pen_rate_raise').get_parameter_value().integer_value #Speed of raising the pen-lift motor.
-        self.ad.options.const_speed = self.get_parameter('axidraw_const_speed').get_parameter_value().bool_value #Option: Use constant speed when pen is down.
-        self.ad.options.pen_delay_down = self.get_parameter('axidraw_pen_delay_down').get_parameter_value().integer_value #Added delay after lowering pen.
-        self.ad.options.pen_delay_up = self.get_parameter('axidraw_pen_delay_up').get_parameter_value().integer_value #Added delay after raising pen.
         self.ad.update()                     # Process changes to options
         self.status["serial"] = "ready"
         self.status["motion"] = "ready"
-        self.status["pen"] = "up"
         return True
 
     def __init__(self):
@@ -94,22 +80,10 @@ class AxidrawSerial(Node):
         self.declare_parameter('serial_port', '/dev/ttyACM0')
         port = self.get_parameter('serial_port').get_parameter_value().string_value
 
-        self.declare_parameter('axidraw_speed_pendown', 100)
-        self.declare_parameter('axidraw_speed_penup', 100)
-        self.declare_parameter('axidraw_accel', 100)
-        self.declare_parameter('axidraw_pen_pos_down', 40)
-        self.declare_parameter('axidraw_pen_pos_up', 60)
-        self.declare_parameter('axidraw_pen_rate_lower', 50)
-        self.declare_parameter('axidraw_pen_rate_raise', 75)
-        self.declare_parameter('axidraw_const_speed', False)
-        self.declare_parameter('axidraw_pen_delay_down', 0)
-        self.declare_parameter('axidraw_pen_delay_up', 0)
-
         self.status_srv = self.create_service(Status, 'axidraw_status', self.get_status)
 
         while not self.init_serial(port):
-            self.get_logger().error("Failed to connect to axidraw on port:{}, retrying".format(port))
+            self.get_logger().error("Failed to connect to axidraw on port:{}".format(port))
-        self.get_logger().info("Successfully connected to axidraw on port:{}".format(port))
 
         self.move_sub = self.create_subscription(Point, 'axidraw_move', self.move_callback, qos_profile=QoSProfile(depth=1))
         self.penup_sub = self.create_subscription(Empty, 'axidraw_penup', self.penup_callback, qos_profile=QoSProfile(depth=1))
@@ -191,9 +165,7 @@ class AxidrawSerial(Node):
 
         self.get_logger().info("Received penup: {}".format(msg))
 
-        if self.status['pen'] == "down":
+        self.ad.penup()
-            self.ad.penup()
-            self.status['pen'] = "up"
         self.set_ready()
 
     def pendown_callback(self, msg):
@@ -206,9 +178,7 @@ class AxidrawSerial(Node):
 
         self.get_logger().info("Received pendown: {}".format(msg))
 
-        if self.status['pen'] == "up":
+        self.ad.pendown()
-            self.ad.pendown()
-            self.status['pen'] = "down"
         self.set_ready()
 
     def stroke_callback(self, msg):
@@ -223,7 +193,6 @@ class AxidrawSerial(Node):
 
         path = [ [p.x,p.y] for p in msg.points ]
         self.ad.draw_path(path)
-        self.status['pen'] = "up"
         self.set_ready()
 
 

src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml

@@ -1,5 +0,0 @@
-cartesian_limits:
-  max_trans_vel: 0.4
-  max_trans_acc: 4.00
-  max_trans_dec: -5.0
-  max_rot_vel: 1.57

src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml

@@ -4,31 +4,31 @@
 joint_limits:
   joint1:
     has_velocity_limits: true
-    max_velocity: 4.14
+    max_velocity: 2.14
     has_acceleration_limits: true
-    max_acceleration: 30.0
+    max_acceleration: 1.0
   joint2:
     has_velocity_limits: true
-    max_velocity: 4.14
+    max_velocity: 2.14
     has_acceleration_limits: true
-    max_acceleration: 30.0
+    max_acceleration: 1.0
   joint3:
     has_velocity_limits: true
-    max_velocity: 4.14
+    max_velocity: 2.14
     has_acceleration_limits: true
-    max_acceleration: 30.0
+    max_acceleration: 1.0
   joint4:
     has_velocity_limits: true
-    max_velocity: 4.14
+    max_velocity: 2.14
     has_acceleration_limits: true
-    max_acceleration: 30.0
+    max_acceleration: 1.0
   joint5:
     has_velocity_limits: true
-    max_velocity: 4.14
+    max_velocity: 2.14
     has_acceleration_limits: true
-    max_acceleration: 30.0
+    max_acceleration: 1.0
   joint6:
     has_velocity_limits: true
-    max_velocity: 4.14
+    max_velocity: 2.14
     has_acceleration_limits: true
-    max_acceleration: 30.0
+    max_acceleration: 1.0

src/custom_xarm_moveit_config/launch/lib/robot_moveit_config_lib.py

@@ -65,22 +65,19 @@ def add_prefix_to_moveit_params(controllers_yaml=None, ompl_planning_yaml=None,
 
 
 def get_xarm_robot_description_parameters(
-    xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+    xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
-    xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
+    xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
     urdf_arguments={},
     srdf_arguments={},
     arguments={}):
     urdf_arguments['ros2_control_plugin'] = urdf_arguments.get('ros2_control_plugin', 'uf_robot_hardware/UFRobotSystemHardware')
-    moveit_config_package_name = 'custom_xarm_moveit_config'
+    moveit_config_package_name = 'xarm_moveit_config'
     xarm_type = arguments.get('xarm_type', None)
     
     # xarm_description/launch/lib/robot_description_lib.py
-    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('custom_xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
+    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
     get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
     
-    joint_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'joint_limits.yaml')
-    cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
-    joint_limits['cartesian_limits'] = cartesian_limits['cartesian_limits']
     return {
         'robot_description': get_xacro_file_content(
             xacro_file=xacro_urdf_file, 
@@ -90,6 +87,6 @@ def get_xarm_robot_description_parameters(
             xacro_file=xacro_srdf_file,
             arguments=srdf_arguments
         ),
-        'robot_description_planning': joint_limits,
+        'robot_description_planning': load_yaml(moveit_config_package_name, 'config', xarm_type, 'joint_limits.yaml'),
         'robot_description_kinematics': load_yaml(moveit_config_package_name, 'config', xarm_type, 'kinematics.yaml')
     }

src/draw_svg/CMakeLists.txt

@@ -0,0 +1,59 @@
+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)
+#find_package(moveit_visual_tools REQUIRED)
+
+# Install C++
+set(SRC_CPP_DIR src/cpp)
+# Example 0 - Follow target
+set(EXECUTABLE_0 follow)
+add_executable(${EXECUTABLE_0} ${SRC_CPP_DIR}/${EXECUTABLE_0}.cpp)
+ament_target_dependencies(${EXECUTABLE_0}
+    rclcpp
+    geometry_msgs
+    moveit_ros_planning_interface
+)
+install(TARGETS
+    ${EXECUTABLE_0}
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install Python
+set(SRC_PY_DIR src/py)
+install(PROGRAMS
+    ${SRC_PY_DIR}/draw_svg.py
+    ${SRC_PY_DIR}/follow.py
+    ${SRC_PY_DIR}/drawing_surface.py
+    DESTINATION lib/${PROJECT_NAME}
+)
+install(PROGRAMS
+    ${SRC_PY_DIR}/robots/lite6.py
+    DESTINATION lib/${PROJECT_NAME}/robots/
+)
+
+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 urdf worlds DESTINATION share/${PROJECT_NAME})
+
+ament_package()

src/draw_svg/README.md

@@ -0,0 +1,4 @@
+# draw_svg
+WILL BE REMOVED
+
+Contains initial testing of libraries and launch files.

src/draw_svg/launch/default.launch.py

@@ -0,0 +1,146 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch default world with the default robot (configurable)"""
+
+from os import path
+from typing import List
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.substitutions import FindPackageShare
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    # Declare all launch arguments
+    declared_arguments = generate_declared_arguments()
+
+    # Get substitution for all arguments
+    world_type = LaunchConfiguration("world_type")
+    robot_type = LaunchConfiguration("robot_type")
+    rviz_config = LaunchConfiguration("rviz_config")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    ign_verbosity = LaunchConfiguration("ign_verbosity")
+    log_level = LaunchConfiguration("log_level")
+
+    # Determine what world/robot combination to launch
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "__world_launch_basename",
+            default_value=["world_", world_type, ".launch.py"],
+        ),
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "__robot_launch_basename",
+            default_value=["robot_", robot_type, ".launch.py"],
+        ),
+    )
+
+    # List of included launch descriptions
+    launch_descriptions = [
+        # Launch Ignition Gazebo with the required ROS<->IGN bridges
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("draw_svg"),
+                        "launch",
+                        "worlds",
+                        LaunchConfiguration("__world_launch_basename"),
+                    ]
+                )
+            ),
+            launch_arguments=[
+                ("use_sim_time", use_sim_time),
+                ("ign_verbosity", ign_verbosity),
+                ("log_level", log_level),
+            ],
+        ),
+        # Spawn robot
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("draw_svg"),
+                        "launch",
+                        "robots",
+                        LaunchConfiguration("__robot_launch_basename"),
+                    ]
+                )
+            ),
+            launch_arguments=[
+                ("use_sim_time", use_sim_time),
+                ("ign_verbosity", ign_verbosity),
+                ("log_level", log_level),
+            ],
+        ),
+        # Launch move_group of MoveIt 2
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [FindPackageShare("xarm_moveit_config"), "launch", "lite6_moveit_fake.launch.py"]
+                )
+            ),
+            launch_arguments=[
+                ("ros2_control_plugin", "ign"),
+                ("ros2_control_command_interface", "effort"),
+                # TODO: Re-enable colligion geometry for manipulator arm once spawning with specific joint configuration is enabled
+                ("collision_arm", "false"),
+                ("rviz_config", rviz_config),
+                ("use_sim_time", use_sim_time),
+                ("log_level", log_level),
+            ],
+        ),
+    ]
+
+    return LaunchDescription(declared_arguments + launch_descriptions)
+
+
+def generate_declared_arguments() -> List[DeclareLaunchArgument]:
+    """
+    Generate list of all launch arguments that are declared for this launch script.
+    """
+
+    return [
+        # World selection
+        DeclareLaunchArgument(
+            "world_type",
+            default_value="default",
+            description="Name of the world configuration to load.",
+        ),
+        # Robot selection
+        DeclareLaunchArgument(
+            "robot_type",
+            default_value="panda",
+            description="Name of the robot type to use.",
+        ),
+        # Miscellaneous
+        DeclareLaunchArgument(
+            "rviz_config",
+            default_value=path.join(
+                get_package_share_directory("draw_svg"),
+                "rviz",
+                "ign_moveit2_examples.rviz",
+            ),
+            description="Path to configuration for RViz2.",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulated clock.",
+        ),
+        DeclareLaunchArgument(
+            "ign_verbosity",
+            default_value="2",
+            description="Verbosity level for Ignition Gazebo (0~4).",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="warn",
+            description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
+        ),
+    ]

src/draw_svg/launch/draw_svg.launch.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch Python example for following a target"""
+
+from os import path
+from typing import List
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    # Declare all launch arguments
+    declared_arguments = generate_declared_arguments()
+
+    # Get substitution for all arguments
+    robot_type = LaunchConfiguration("robot_type")
+    rviz_config = LaunchConfiguration("rviz_config")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    ign_verbosity = LaunchConfiguration("ign_verbosity")
+    log_level = LaunchConfiguration("log_level")
+
+    # List of included launch descriptions
+    launch_descriptions = [
+        # Launch world with robot (configured for this example)
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("draw_svg"),
+                        "launch",
+                        "default.launch.py",
+                    ]
+                )
+            ),
+            launch_arguments=[
+                ("world_type", "draw_svg"),
+                ("robot_type", robot_type),
+                ("rviz_config", rviz_config),
+                ("use_sim_time", use_sim_time),
+                ("ign_verbosity", ign_verbosity),
+                ("log_level", log_level),
+            ],
+        ),
+    ]
+
+    # List of nodes to be launched
+    nodes = [
+        # Run the example node (Python)
+        Node(
+            package="draw_svg",
+            executable="follow.py",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+        Node(
+            package="draw_svg",
+            executable="draw_svg.py",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+    ]
+
+    return LaunchDescription(declared_arguments + launch_descriptions + nodes)
+
+
+def generate_declared_arguments() -> List[DeclareLaunchArgument]:
+    """
+    Generate list of all launch arguments that are declared for this launch script.
+    """
+
+    return [
+        # Robot selection
+        DeclareLaunchArgument(
+            "robot_type",
+            default_value="lite6",
+            description="Name of the robot to use.",
+        ),
+        # Miscellaneous
+        DeclareLaunchArgument(
+            "rviz_config",
+            default_value=path.join(
+                get_package_share_directory("xarm_description"),
+                "rviz",
+                "display.rviz",
+            ),
+            description="Path to configuration for RViz2.",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulated clock.",
+        ),
+        DeclareLaunchArgument(
+            "ign_verbosity",
+            default_value="2",
+            description="Verbosity level for Ignition Gazebo (0~4).",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="warn",
+            description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
+        ),
+    ]

src/draw_svg/launch/lite6_pen.launch.py

@@ -0,0 +1,255 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch Python example for following a target"""
+
+import os
+from ament_index_python import get_package_share_directory
+from launch.launch_description_sources import load_python_launch_file_as_module
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command, FindExecutable
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.event_handlers import OnProcessExit
+from launch.actions import OpaqueFunction
+
+
+def launch_setup(context, *args, **kwargs):
+    use_sim_time = LaunchConfiguration("use_sim_time", default=True)
+    log_level = LaunchConfiguration("log_level", default='warn')
+    rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
+
+    prefix = LaunchConfiguration('prefix', default='')
+    hw_ns = LaunchConfiguration('hw_ns', default='xarm')
+    limited = LaunchConfiguration('limited', default=False)
+    effort_control = LaunchConfiguration('effort_control', default=False)
+    velocity_control = LaunchConfiguration('velocity_control', default=False)
+    add_gripper = LaunchConfiguration('add_gripper', default=False)
+    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
+    dof = LaunchConfiguration('dof', default=6)
+    robot_type = LaunchConfiguration('robot_type', default='lite')
+    ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
+
+    add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
+    #geometry_type = LaunchConfiguration('geometry_type', default='box')
+    geometry_type = LaunchConfiguration('geometry_type', default='cylinder')
+    geometry_mass = LaunchConfiguration('geometry_mass', default=0.05)
+    geometry_height = LaunchConfiguration('geometry_height', default=0.1)
+    geometry_radius = LaunchConfiguration('geometry_radius', default=0.005)
+    geometry_length = LaunchConfiguration('geometry_length', default=0.07)
+    geometry_width = LaunchConfiguration('geometry_width', default=0.1)
+    geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
+    geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
+    geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
+    geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
+    geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
+    load_controller = LaunchConfiguration('load_controller', default=True)
+
+    ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
+
+
+    ros2_control_plugin = 'gazebo_ros2_control/GazeboSystem'
+    controllers_name = 'fake_controllers'
+    moveit_controller_manager_key = 'moveit_simple_controller_manager'
+    moveit_controller_manager_value = 'moveit_simple_controller_manager/MoveItSimpleControllerManager'
+
+    # robot moveit common launch
+    # xarm_moveit_config/launch/_robot_moveit_common.launch.py
+    robot_moveit_common_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
+        launch_arguments={
+            'prefix': prefix,
+            'hw_ns': hw_ns,
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            # 'add_gripper': add_gripper if robot_type.perform(context) == 'xarm' else 'false',
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': dof,
+            'robot_type': robot_type,
+            'no_gui_ctrl': 'false',
+            'ros2_control_plugin': ros2_control_plugin,
+            'controllers_name': controllers_name,
+            'moveit_controller_manager_key': moveit_controller_manager_key,
+            'moveit_controller_manager_value': moveit_controller_manager_value,
+            'add_other_geometry': add_other_geometry,
+            'geometry_type': geometry_type,
+            'geometry_mass': geometry_mass,
+            'geometry_height': geometry_height,
+            'geometry_radius': geometry_radius,
+            'geometry_length': geometry_length,
+            'geometry_width': geometry_width,
+            'geometry_mesh_filename': geometry_mesh_filename,
+            'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
+            'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
+            'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
+            'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
+            'use_sim_time': 'true'
+        }.items(),
+    )
+
+    # robot gazebo launch
+    # xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
+    robot_gazebo_launch = IncludeLaunchDescription(
+        #PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'launch', '_robot_beside_table_gazebo.launch.py'])),
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', 'lite6_table.launch.py'])),
+        launch_arguments={
+            'prefix': prefix,
+            'hw_ns': hw_ns,
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': dof,
+            'robot_type': robot_type,
+            'ros2_control_plugin': ros2_control_plugin,
+            'load_controller': 'true',
+        }.items(),
+    )
+
+    # URDF
+    _robot_description_xml = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']
+            ),
+            #PathJoinSubstitution(
+            #    [
+            #        FindPackageShare('xarm_description'),
+            #        "urdf",
+            #        "lite6",
+            #        #"lite6.urdf.xacro",
+            #        "lite6_robot_macro.xacro",
+            #    ]
+            #),
+            " ",
+            #"name:=", "lite6", " ",
+            "prefix:=", " ",
+            "hw_ns:=", hw_ns, " ",
+            "limited:=", limited, " ",
+            "effort_control:=", effort_control, " ",
+            "velocity_control:=", velocity_control, " ",
+            "add_gripper:=", add_gripper, " ",
+            "add_vacuum_gripper:=", add_vacuum_gripper, " ",
+            "dof:=", dof, " ",
+            "robot_type:=", robot_type, " ",
+            "ros2_control_plugin:=", ros2_control_plugin, " ",
+            #"ros2_control_params:=", ros2_control_params, " ",
+
+            "add_other_geometry:=", add_other_geometry, " ",
+            "geometry_type:=", geometry_type, " ",
+            "geometry_mass:=", geometry_mass, " ",
+            "geometry_height:=", geometry_height, " ",
+            "geometry_radius:=", geometry_radius, " ",
+            "geometry_length:=", geometry_length, " ",
+            "geometry_width:=", geometry_width, " ",
+            "geometry_mesh_filename:=", geometry_mesh_filename, " ",
+            "geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
+            "geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
+            "geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
+            "geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
+
+            #"robot_ip:=", robot_ip, " ",
+            #"report_type:=", report_type, " ",
+            #"baud_checkset:=", baud_checkset, " ",
+            #"default_gripper_baud:=", default_gripper_baud, " ",
+        ]
+    )
+    # TODO fix URDF loading
+    # xacro urdf/xarm_pen.urdf.xacro prefix:= hw_ns:=xarm dof:=6 limited:=false effort_control:=false velocity_control:=false add_gripper:=false add_vacuum_gripper:=false robot_type:=lite ros2_control_plugin:=gazebo_ros2_control/GazeboSystem add_other_geometry:=false geometry_type:=cylinder geometry_mass:=0.05 geometry_height:=0.1 geometry_radius:=0.005 geometry_length:=0.07 geometry_width:=0.1 geometry_mesh_filename:= geometry_mesh_origin_xyz:="0 0 0" geometry_mesh_origin_rpy:="0 0 0" geometry_mesh_tcp_xyz:="0 0 0" geometry_mesh_tcp_rpy:="0 0 0"
+    _robot_description_xml = Command(['cat ', PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'lite6.tmp.urdf'])])
+    robot_description = {"robot_description": _robot_description_xml}
+    # SRDF
+    _robot_description_semantic_xml = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare('xarm_moveit_config'),
+                    "srdf",
+                    #"_lite6_macro.srdf.xacro",
+                    "xarm.srdf.xacro",
+                ]
+            ),
+            " ",
+            #"name:=", "lite6", " ",
+            "prefix:=", " ",
+            #"hw_ns:=", hw_ns, " ",
+            #"limited:=", limited, " ",
+            #"effort_control:=", effort_control, " ",
+            #"velocity_control:=", velocity_control, " ",
+            #"add_gripper:=", add_gripper, " ",
+            #"add_vacuum_gripper:=", add_vacuum_gripper, " ",
+            "dof:=", dof, " ",
+            "robot_type:=", robot_type, " ",
+            #"ros2_control_plugin:=", ros2_control_plugin, " ",
+            #"ros2_control_params:=", ros2_control_params, " ",
+
+            #"add_other_geometry:=", add_other_geometry, " ",
+            #"geometry_type:=", geometry_type, " ",
+            #"geometry_mass:=", geometry_mass, " ",
+            #"geometry_height:=", geometry_height, " ",
+            #"geometry_radius:=", geometry_radius, " ",
+            #"geometry_length:=", geometry_length, " ",
+            #"geometry_width:=", geometry_width, " ",
+            #"geometry_mesh_filename:=", geometry_mesh_filename, " ",
+            #"geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
+            #"geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
+            #"geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
+            #"geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
+
+            #"robot_ip:=", robot_ip, " ",
+            #"report_type:=", report_type, " ",
+            #"baud_checkset:=", baud_checkset, " ",
+            #"default_gripper_baud:=", default_gripper_baud, " ",
+        ]
+    )
+    robot_description_semantic = {
+        "robot_description_semantic": _robot_description_semantic_xml
+    }
+
+
+
+    nodes = [
+        Node(
+            package="draw_svg",
+            executable="follow",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[
+                robot_description,
+                robot_description_semantic,
+                {"use_sim_time": use_sim_time},
+            ],
+        ),
+        Node(
+            package="draw_svg",
+            executable="draw_svg.py",
+            output="log",
+            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 [
+        robot_moveit_common_launch,
+        robot_gazebo_launch,
+    ] + nodes
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])

src/draw_svg/launch/lite6_real.launch.py

@@ -0,0 +1,361 @@
+import os
+from launch import LaunchDescription
+from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+from ament_index_python import get_package_share_directory
+from launch.launch_description_sources import load_python_launch_file_as_module
+from launch import LaunchDescription
+from launch.actions import RegisterEventHandler, EmitEvent
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+
+
+def launch_setup(context, *args, **kwargs):
+    robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
+    report_type = LaunchConfiguration('report_type', default='normal')
+    prefix = LaunchConfiguration('prefix', default='')
+    hw_ns = LaunchConfiguration('hw_ns', default='ufactory')
+    limited = LaunchConfiguration('limited', default=True)
+    effort_control = LaunchConfiguration('effort_control', default=False)
+    velocity_control = LaunchConfiguration('velocity_control', default=False)
+    add_gripper = LaunchConfiguration('add_gripper', default=False)
+    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
+    dof = LaunchConfiguration('dof', default=6)
+    robot_type = LaunchConfiguration('robot_type', default='lite')
+    no_gui_ctrl = LaunchConfiguration('no_gui_ctrl', default=False)
+
+    add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
+    geometry_type = LaunchConfiguration('geometry_type', default='box')
+    geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
+    geometry_height = LaunchConfiguration('geometry_height', default=0.1)
+    geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
+    geometry_length = LaunchConfiguration('geometry_length', default=0.1)
+    geometry_width = LaunchConfiguration('geometry_width', default=0.1)
+    geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
+    geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
+    geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
+    geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
+    geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
+
+    baud_checkset = LaunchConfiguration('baud_checkset', default=True)
+    default_gripper_baud = LaunchConfiguration('default_gripper_baud', default=2000000)
+
+    ros2_control_plugin = 'uf_robot_hardware/UFRobotSystemHardware'
+    controllers_name = LaunchConfiguration('controllers_name', default='controllers')
+    moveit_controller_manager_key = LaunchConfiguration('moveit_controller_manager_key', default='moveit_simple_controller_manager')
+    moveit_controller_manager_value = LaunchConfiguration('moveit_controller_manager_value', default='moveit_simple_controller_manager/MoveItSimpleControllerManager')
+
+    xarm_type = '{}{}'.format(robot_type.perform(context), dof.perform(context))
+    ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default=False)
+    log_level = LaunchConfiguration("log_level", default='warn')
+
+    # # robot driver launch
+    # # xarm_api/launch/_robot_driver.launch.py
+    # robot_driver_launch = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_api'), 'launch', '_robot_driver.launch.py'])),
+    #     launch_arguments={
+    #         'robot_ip': robot_ip,
+    #         'report_type': report_type,
+    #         'dof': dof,
+    #         'hw_ns': hw_ns,
+    #         'add_gripper': add_gripper,
+    #         'prefix': prefix,
+    #         'baud_checkset': baud_checkset,
+    #         'default_gripper_baud': default_gripper_baud,
+    #         'robot_type': robot_type,
+    #     }.items(),
+    # )
+
+    # robot description launch
+    # xarm_description/launch/_robot_description.launch.py
+    robot_description_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])),
+        launch_arguments={
+            'prefix': prefix,
+            'hw_ns': hw_ns,
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': dof,
+            'robot_type': robot_type,
+            'ros2_control_plugin': ros2_control_plugin,
+            'joint_states_remapping': PathJoinSubstitution(['/', ros_namespace, hw_ns, 'joint_states']),
+            'add_other_geometry': add_other_geometry,
+            'geometry_type': geometry_type,
+            'geometry_mass': geometry_mass,
+            'geometry_height': geometry_height,
+            'geometry_radius': geometry_radius,
+            'geometry_length': geometry_length,
+            'geometry_width': geometry_width,
+            'geometry_mesh_filename': geometry_mesh_filename,
+            'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
+            'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
+            'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
+            'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
+        }.items(),
+    )
+
+    # robot_description_parameters
+    # xarm_moveit_config/launch/lib/robot_moveit_config_lib.py
+    moveit_config_package_name = 'xarm_moveit_config'
+    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory(moveit_config_package_name), 'launch', 'lib', 'robot_moveit_config_lib.py'))
+    get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
+    robot_description_parameters = get_xarm_robot_description_parameters(
+        xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+        xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
+        urdf_arguments={
+            'prefix': prefix,
+            'hw_ns': hw_ns.perform(context).strip('/'),
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': dof,
+            'robot_type': robot_type,
+            'ros2_control_plugin': ros2_control_plugin,
+            'add_other_geometry': add_other_geometry,
+            'geometry_type': geometry_type,
+            'geometry_mass': geometry_mass,
+            'geometry_height': geometry_height,
+            'geometry_radius': geometry_radius,
+            'geometry_length': geometry_length,
+            'geometry_width': geometry_width,
+            'geometry_mesh_filename': geometry_mesh_filename,
+            'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
+            'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
+            'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
+            'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
+        },
+        srdf_arguments={
+            'prefix': prefix,
+            'dof': dof,
+            'robot_type': robot_type,
+            'add_gripper': add_gripper,
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'add_other_geometry': add_other_geometry,
+        },
+        arguments={
+            'context': context,
+            'xarm_type': xarm_type,
+        }
+    )
+
+    load_yaml = getattr(mod, 'load_yaml')
+    controllers_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, '{}.yaml'.format(controllers_name.perform(context)))
+    ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
+    kinematics_yaml = robot_description_parameters['robot_description_kinematics']
+    joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
+
+    if add_gripper.perform(context) in ('True', 'true'):
+        gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
+        gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')
+        gripper_joint_limits_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'joint_limits.yaml')
+
+        if gripper_controllers_yaml and 'controller_names' in gripper_controllers_yaml:
+            for name in gripper_controllers_yaml['controller_names']:
+                if name in gripper_controllers_yaml:
+                    if name not in controllers_yaml['controller_names']:
+                        controllers_yaml['controller_names'].append(name)
+                    controllers_yaml[name] = gripper_controllers_yaml[name]
+        if gripper_ompl_planning_yaml:
+            ompl_planning_yaml.update(gripper_ompl_planning_yaml)
+        if joint_limits_yaml and gripper_joint_limits_yaml:
+            joint_limits_yaml['joint_limits'].update(gripper_joint_limits_yaml['joint_limits'])
+
+    add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
+    add_prefix_to_moveit_params(
+        controllers_yaml=controllers_yaml, ompl_planning_yaml=ompl_planning_yaml,
+        kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
+        prefix=prefix.perform(context))
+
+    # Planning Configuration
+    ompl_planning_pipeline_config = {
+        'move_group': {
+            'planning_plugin': 'ompl_interface/OMPLPlanner',
+            'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
+            'start_state_max_bounds_error': 0.1,
+        }
+    }
+    ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
+
+    # Moveit controllers Configuration
+    moveit_controllers = {
+        moveit_controller_manager_key.perform(context): controllers_yaml,
+        'moveit_controller_manager': moveit_controller_manager_value.perform(context),
+    }
+
+    # Trajectory Execution Configuration
+    trajectory_execution = {
+        'moveit_manage_controllers': True,
+        'trajectory_execution.allowed_execution_duration_scaling': 1.2,
+        'trajectory_execution.allowed_goal_duration_margin': 0.5,
+        'trajectory_execution.allowed_start_tolerance': 0.01,
+        'trajectory_execution.execution_duration_monitoring': False
+    }
+
+    plan_execution = {
+        'plan_execution.record_trajectory_state_frequency': 10.0,
+    }
+
+    planning_scene_monitor_parameters = {
+        'publish_planning_scene': True,
+        'publish_geometry_updates': True,
+        'publish_state_updates': True,
+        'publish_transforms_updates': True,
+        # "planning_scene_monitor_options": {
+        #     "name": "planning_scene_monitor",
+        #     "robot_description": "robot_description",
+        #     "joint_state_topic": "/joint_states",
+        #     "attached_collision_object_topic": "/move_group/planning_scene_monitor",
+        #     "publish_planning_scene_topic": "/move_group/publish_planning_scene",
+        #     "monitored_planning_scene_topic": "/move_group/monitored_planning_scene",
+        #     "wait_for_initial_state_timeout": 10.0,
+        # },
+    }
+
+    # Start the actual move_group node/action server
+    move_group_node = Node(
+        package='moveit_ros_move_group',
+        executable='move_group',
+        output='screen',
+        parameters=[
+            robot_description_parameters,
+            ompl_planning_pipeline_config,
+            trajectory_execution,
+            plan_execution,
+            moveit_controllers,
+            planning_scene_monitor_parameters,
+            {'use_sim_time': use_sim_time},
+        ],
+    )
+
+    # rviz with moveit configuration
+    # rviz_config_file = PathJoinSubstitution([FindPackageShare(moveit_config_package_name), 'config', xarm_type, 'planner.rviz' if no_gui_ctrl.perform(context) == 'true' else 'moveit.rviz'])
+    rviz_config_file = PathJoinSubstitution([FindPackageShare(moveit_config_package_name), 'rviz', 'planner.rviz' if no_gui_ctrl.perform(context) == 'true' else 'moveit.rviz'])
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', rviz_config_file],
+        parameters=[
+            robot_description_parameters,
+            ompl_planning_pipeline_config,
+            {'use_sim_time': use_sim_time},
+        ],
+        remappings=[
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static'),
+        ]
+    )
+
+    # Static TF
+    static_tf = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='static_transform_publisher',
+        output='screen',
+        arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'world', 'link_base'],
+    )
+
+
+    # joint state publisher node
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        output='screen',
+        parameters=[{'source_list': ['{}/joint_states'.format(hw_ns.perform(context))]}],
+        remappings=[
+            ('follow_joint_trajectory', '{}{}_traj_controller/follow_joint_trajectory'.format(prefix.perform(context), xarm_type)),
+        ],
+    )
+
+    # ros2 control launch
+    # xarm_controller/launch/_ros2_control.launch.py
+    ros2_control_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_controller'), 'launch', '_ros2_control.launch.py'])),
+        launch_arguments={
+            'robot_ip': robot_ip,
+            'report_type': report_type,
+            'baud_checkset': baud_checkset,
+            'default_gripper_baud': default_gripper_baud,
+            'prefix': prefix,
+            'hw_ns': hw_ns,
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': dof,
+            'robot_type': robot_type,
+            'ros2_control_plugin': ros2_control_plugin,
+        }.items(),
+    )
+
+    control_node = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=[
+            '{}{}_traj_controller'.format(prefix.perform(context), xarm_type),
+            '--controller-manager', '{}/controller_manager'.format(ros_namespace)
+        ],
+    )
+
+    nodes = [
+        Node(
+            package="draw_svg",
+            executable="follow",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[
+                #robot_description_parameters['robot_description'],
+                #robot_description_parameters['robot_description_semantic'],
+                #robot_description_parameters['robot_description_planning'],
+                #robot_description_parameters['robot_description_kinematics'],
+                robot_description_parameters,
+                {"use_sim_time": use_sim_time},
+            ],
+        ),
+        Node(
+            package="draw_svg",
+            executable="draw_svg.py",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+    ]
+
+    return [
+
+        RegisterEventHandler(event_handler=OnProcessExit(
+            target_action=rviz2_node,
+            on_exit=[EmitEvent(event=Shutdown())]
+        )),
+        rviz2_node,
+        static_tf,
+        move_group_node,
+
+
+        robot_description_launch,
+        joint_state_publisher_node,
+        ros2_control_launch,
+        control_node,
+        # robot_driver_launch,
+    ] + nodes
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])

src/draw_svg/launch/log_position.launch.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch Python example for following a target"""
+
+from os import path
+from typing import List
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from ament_index_python import get_package_share_directory
+from launch.launch_description_sources import load_python_launch_file_as_module
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.event_handlers import OnProcessExit
+from launch.actions import OpaqueFunction
+
+
+def generate_launch_description() -> LaunchDescription:
+    log_position_node = Node(
+        package="draw_svg",
+        executable="log_position",
+        output='log',
+        arguments=[
+        ],
+    )
+    return LaunchDescription([log_position_node,])
+
+def generate_declared_arguments():
+    return [
+        OpaqueFunction(function=launch_setup)
+    ]

src/draw_svg/launch/robots/_robot_beside_table_gazebo.launch.py

@@ -0,0 +1,168 @@
+#!/usr/bin/env python3
+
+import os
+from ament_index_python import get_package_share_directory
+from launch.launch_description_sources import load_python_launch_file_as_module
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.event_handlers import OnProcessExit
+from launch.actions import OpaqueFunction
+
+
+def launch_setup(context, *args, **kwargs):
+    prefix = LaunchConfiguration('prefix', default='')
+    hw_ns = LaunchConfiguration('hw_ns', default='xarm')
+    limited = LaunchConfiguration('limited', default=False)
+    effort_control = LaunchConfiguration('effort_control', default=False)
+    velocity_control = LaunchConfiguration('velocity_control', default=False)
+    add_gripper = LaunchConfiguration('add_gripper', default=False)
+    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
+    dof = LaunchConfiguration('dof', default=7)
+    robot_type = LaunchConfiguration('robot_type', default='xarm')
+    ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
+
+    add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
+    geometry_type = LaunchConfiguration('geometry_type', default='box')
+    geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
+    geometry_height = LaunchConfiguration('geometry_height', default=0.1)
+    geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
+    geometry_length = LaunchConfiguration('geometry_length', default=0.1)
+    geometry_width = LaunchConfiguration('geometry_width', default=0.1)
+    geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
+    geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
+    geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
+    geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
+    geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
+    load_controller = LaunchConfiguration('load_controller', default=False)
+
+    ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
+
+    # ros2 control params
+    # xarm_controller/launch/lib/robot_controller_lib.py
+    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('xarm_controller'), 'launch', 'lib', 'robot_controller_lib.py'))
+    generate_ros2_control_params_temp_file = getattr(mod, 'generate_ros2_control_params_temp_file')
+    ros2_control_params = generate_ros2_control_params_temp_file(
+        os.path.join(get_package_share_directory('xarm_controller'), 'config', '{}{}_controllers.yaml'.format(robot_type.perform(context), dof.perform(context))),
+        prefix=prefix.perform(context),
+        add_gripper=add_gripper.perform(context) in ('True', 'true'),
+        ros_namespace=LaunchConfiguration('ros_namespace', default='').perform(context),
+        update_rate=1000,
+        #robot_type=robot_type.perform(context)
+    )
+
+    # robot_description
+    # xarm_description/launch/lib/robot_description_lib.py
+    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
+    get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
+    robot_description = {
+        'robot_description': get_xacro_file_content(
+            xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+            arguments={
+                'prefix': prefix,
+                'dof': dof,
+                'robot_type': robot_type,
+                'add_gripper': add_gripper,
+                'add_vacuum_gripper': add_vacuum_gripper,
+                'hw_ns': hw_ns.perform(context).strip('/'),
+                'limited': limited,
+                'effort_control': effort_control,
+                'velocity_control': velocity_control,
+                'ros2_control_plugin': ros2_control_plugin,
+                'ros2_control_params': ros2_control_params,
+                'add_other_geometry': add_other_geometry,
+                'geometry_type': geometry_type,
+                'geometry_mass': geometry_mass,
+                'geometry_height': geometry_height,
+                'geometry_radius': geometry_radius,
+                'geometry_length': geometry_length,
+                'geometry_width': geometry_width,
+                'geometry_mesh_filename': geometry_mesh_filename,
+                'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
+                'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
+                'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
+                'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
+            }
+        ),
+    }
+
+    # robot state publisher node
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description],
+        remappings=[
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static'),
+        ]
+    )
+
+    # gazebo launch
+    # gazebo_ros/launch/gazebo.launch.py
+    #xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'worlds', 'table.world'])
+    xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('draw_svg'), 'worlds', 'follow_target.sdf'])
+    gazebo_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('gazebo_ros'), 'launch', 'gazebo.launch.py'])),
+        launch_arguments={
+            'world': xarm_gazebo_world,
+            'server_required': 'true',
+            'gui_required': 'true',
+        }.items(),
+    )
+
+    # gazebo spawn entity node
+    gazebo_spawn_entity_node = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        output='screen',
+        arguments=[
+            '-topic', 'robot_description',
+            '-entity', '{}{}'.format(robot_type.perform(context), dof.perform(context)),
+            '-x', '-0.2',
+            '-y', '-0.5',
+            '-z', '1.021',
+            '-Y', '1.571',
+        ],
+    )
+
+    # Load controllers
+    controllers = [
+        'joint_state_broadcaster',
+        '{}{}{}_traj_controller'.format(prefix.perform(context), robot_type.perform(context), dof.perform(context)),
+    ]
+    if robot_type.perform(context) == 'xarm' and add_gripper.perform(context) in ('True', 'true'):
+        controllers.append('{}{}_gripper_traj_controller'.format(prefix.perform(context), robot_type.perform(context)))
+    load_controllers = []
+    if load_controller.perform(context) in ('True', 'true'):
+        for controller in controllers:
+            load_controllers.append(Node(
+                package='controller_manager',
+                executable='spawner.py',
+                output='screen',
+                arguments=[
+                    controller,
+                    '--controller-manager', '{}/controller_manager'.format(ros_namespace)
+                ],
+            ))
+
+    return [
+        RegisterEventHandler(
+            event_handler=OnProcessExit(
+                target_action=gazebo_spawn_entity_node,
+                on_exit=load_controllers,
+            )
+        ),
+        gazebo_launch,
+        robot_state_publisher_node,
+        gazebo_spawn_entity_node,
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])

src/draw_svg/launch/robots/lite6_table.launch.py

@@ -0,0 +1,176 @@
+import os
+from ament_index_python import get_package_share_directory
+from launch.launch_description_sources import load_python_launch_file_as_module
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.event_handlers import OnProcessExit
+from launch.actions import OpaqueFunction
+
+
+def launch_setup(context, *args, **kwargs):
+    prefix = LaunchConfiguration('prefix', default='')
+    hw_ns = LaunchConfiguration('hw_ns', default='xarm')
+    limited = LaunchConfiguration('limited', default=False)
+    effort_control = LaunchConfiguration('effort_control', default=False)
+    velocity_control = LaunchConfiguration('velocity_control', default=False)
+    add_gripper = LaunchConfiguration('add_gripper', default=False)
+    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
+    dof = LaunchConfiguration('dof', default=7)
+    robot_type = LaunchConfiguration('robot_type', default='xarm')
+    ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
+
+    add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
+    geometry_type = LaunchConfiguration('geometry_type', default='box')
+    geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
+    geometry_height = LaunchConfiguration('geometry_height', default=0.1)
+    geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
+    geometry_length = LaunchConfiguration('geometry_length', default=0.1)
+    geometry_width = LaunchConfiguration('geometry_width', default=0.1)
+    geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
+    geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
+    geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
+    geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
+    geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
+    load_controller = LaunchConfiguration('load_controller', default=False)
+
+    ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
+
+    # ros2 control params
+    # xarm_controller/launch/lib/robot_controller_lib.py
+    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('xarm_controller'), 'launch', 'lib', 'robot_controller_lib.py'))
+    generate_ros2_control_params_temp_file = getattr(mod, 'generate_ros2_control_params_temp_file')
+    ros2_control_params = generate_ros2_control_params_temp_file(
+        os.path.join(get_package_share_directory('xarm_controller'), 'config', '{}{}_controllers.yaml'.format(robot_type.perform(context), dof.perform(context))),
+        prefix=prefix.perform(context),
+        add_gripper=add_gripper.perform(context) in ('True', 'true'),
+        ros_namespace=LaunchConfiguration('ros_namespace', default='').perform(context),
+        update_rate=1000,
+        #robot_type=robot_type.perform(context)
+    )
+
+    # robot_description
+    # xarm_description/launch/lib/robot_description_lib.py
+    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('custom_xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
+    #mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('draw_svg'), 'launch', 'robots', 'xarm_with_pen.py'))
+    get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
+    robot_description = {
+        'robot_description': get_xacro_file_content(
+            xacro_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+            #xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
+            arguments={
+                'prefix': prefix,
+                'dof': dof,
+                'robot_type': robot_type,
+                'add_gripper': add_gripper,
+                'add_vacuum_gripper': add_vacuum_gripper,
+                'hw_ns': hw_ns.perform(context).strip('/'),
+                'limited': limited,
+                'effort_control': effort_control,
+                'velocity_control': velocity_control,
+                'ros2_control_plugin': ros2_control_plugin,
+                'ros2_control_params': ros2_control_params,
+                'add_other_geometry': add_other_geometry,
+                'geometry_type': geometry_type,
+                'geometry_mass': geometry_mass,
+                'geometry_height': geometry_height,
+                'geometry_radius': geometry_radius,
+                'geometry_length': geometry_length,
+                'geometry_width': geometry_width,
+                'geometry_mesh_filename': geometry_mesh_filename,
+                'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
+                'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
+                'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
+                'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
+            }
+        ),
+    }
+
+    # robot state publisher node
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description],
+        remappings=[
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static'),
+        ]
+    )
+
+    # gazebo launch
+    # gazebo_ros/launch/gazebo.launch.py
+    #xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'worlds', 'table.world'])
+    xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('draw_svg'), 'worlds', 'draw_svg_world.sdf'])
+    #xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('custom_xarm_gazebo'), 'worlds', 'table.world'])
+    gazebo_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('gazebo_ros'), 'launch', 'gazebo.launch.py'])),
+        launch_arguments={
+            'world': xarm_gazebo_world,
+            'server_required': 'true',
+            'gui_required': 'true',
+        }.items(),
+    )
+
+    # gazebo spawn entity node
+    gazebo_spawn_entity_node = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        output='screen',
+        arguments=[
+            '-topic', 'robot_description',
+            '-entity', '{}{}'.format(robot_type.perform(context), dof.perform(context)),
+            '-x', '-0.2',
+            #'-x', '0.0',
+            '-y', '-0.5',
+            #'-y', '0.0',
+            '-z', '1.021',
+            #'-z', '0.0',
+            '-Y', '1.571',
+            #'-Y', '0.0',
+        ],
+    )
+
+    # Load controllers
+    controllers = [
+        'joint_state_broadcaster',
+        '{}{}{}_traj_controller'.format(prefix.perform(context), robot_type.perform(context), dof.perform(context)),
+    ]
+    if robot_type.perform(context) == 'xarm' and add_gripper.perform(context) in ('True', 'true'):
+        controllers.append('{}{}_gripper_traj_controller'.format(prefix.perform(context), robot_type.perform(context)))
+    load_controllers = []
+    if load_controller.perform(context) in ('True', 'true'):
+        for controller in controllers:
+            #print("Attempting to load: ", controller)
+            #input()
+            load_controllers.append(Node(
+                package='controller_manager',
+                #executable='spawner.py',
+                executable='spawner',
+                output='screen',
+                arguments=[
+                    controller,
+                    '--controller-manager', '{}/controller_manager'.format(ros_namespace)
+                ],
+            ))
+
+    return [
+        RegisterEventHandler(
+            event_handler=OnProcessExit(
+                target_action=gazebo_spawn_entity_node,
+                on_exit=load_controllers,
+            )
+        ),
+        gazebo_launch,
+        robot_state_publisher_node,
+        gazebo_spawn_entity_node,
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])

src/draw_svg/launch/robots/robot_lite6.launch.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch script for spawning ufactory xarm lite6 into Ignition Gazebo world"""
+
+from typing import List
+
+from launch_ros.actions import Node
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    # Declare all launch arguments
+    declared_arguments = generate_declared_arguments()
+
+    # Get substitution for all arguments
+    model = LaunchConfiguration("model")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    log_level = LaunchConfiguration("log_level")
+
+    # List of nodes to be launched
+    nodes = [
+        # ros_ign_gazebo_create
+        Node(
+            package="ros_ign_gazebo",
+            executable="create",
+            output="log",
+            arguments=["-file", model, "--ros-args", "--log-level", log_level],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+    ]
+
+    return LaunchDescription(declared_arguments + nodes)
+
+
+def generate_declared_arguments() -> List[DeclareLaunchArgument]:
+    """
+    Generate list of all launch arguments that are declared for this launch script.
+    """
+
+    return [
+        # Model for Ignition Gazebo
+        DeclareLaunchArgument(
+            "model",
+            default_value="lite6",
+            description="Name or filepath of model to load.",
+        ),
+        # Miscellaneous
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulated clock.",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="warn",
+            description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
+        ),
+    ]

src/draw_svg/launch/robots/robot_panda.launch.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch script for spawning Franka Emika Panda into Ignition Gazebo world"""
+
+from typing import List
+
+from launch_ros.actions import Node
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    # Declare all launch arguments
+    declared_arguments = generate_declared_arguments()
+
+    # Get substitution for all arguments
+    model = LaunchConfiguration("model")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    log_level = LaunchConfiguration("log_level")
+
+    # List of nodes to be launched
+    nodes = [
+        # ros_ign_gazebo_create
+        Node(
+            package="ros_ign_gazebo",
+            executable="create",
+            output="log",
+            arguments=["-file", model, "--ros-args", "--log-level", log_level],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+    ]
+
+    return LaunchDescription(declared_arguments + nodes)
+
+
+def generate_declared_arguments() -> List[DeclareLaunchArgument]:
+    """
+    Generate list of all launch arguments that are declared for this launch script.
+    """
+
+    return [
+        # Model for Ignition Gazebo
+        DeclareLaunchArgument(
+            "model",
+            default_value="lite6",
+            description="Name or filepath of model to load.",
+        ),
+        # Miscellaneous
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulated clock.",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="warn",
+            description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
+        ),
+    ]

src/draw_svg/launch/worlds/world_default.launch.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch default.sdf and the required ROS<->IGN bridges"""
+
+from typing import List
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    # Declare all launch arguments
+    declared_arguments = generate_declared_arguments()
+
+    # Get substitution for all arguments
+    world = LaunchConfiguration("world")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    ign_verbosity = LaunchConfiguration("ign_verbosity")
+    log_level = LaunchConfiguration("log_level")
+
+    # List of included launch descriptions
+    launch_descriptions = [
+        # Launch Ignition Gazebo
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_ign_gazebo"),
+                        "launch",
+                        "ign_gazebo.launch.py",
+                    ]
+                )
+            ),
+            launch_arguments=[("ign_args", [world, " -r -v ", ign_verbosity])],
+        ),
+    ]
+
+    # List of nodes to be launched
+    nodes = [
+        # ros_ign_bridge (clock -> ROS 2)
+        Node(
+            package="ros_ign_bridge",
+            executable="parameter_bridge",
+            output="log",
+            arguments=[
+                "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+                "--ros-args",
+                "--log-level",
+                log_level,
+            ],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+    ]
+
+    return LaunchDescription(declared_arguments + launch_descriptions + nodes)
+
+
+def generate_declared_arguments() -> List[DeclareLaunchArgument]:
+    """
+    Generate list of all launch arguments that are declared for this launch script.
+    """
+
+    return [
+        # World for Ignition Gazebo
+        DeclareLaunchArgument(
+            "world",
+            default_value="default.sdf",
+            description="Name or filepath of world to load.",
+        ),
+        # Miscellaneous
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulated clock.",
+        ),
+        DeclareLaunchArgument(
+            "ign_verbosity",
+            default_value="2",
+            description="Verbosity level for Ignition Gazebo (0~4).",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="warn",
+            description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
+        ),
+    ]

src/draw_svg/launch/worlds/world_draw_svg.launch.py

@@ -0,0 +1,113 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch worlds/follow_target.sdf and the required ROS<->IGN bridges"""
+
+from os import path
+from typing import List
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    # Declare all launch arguments
+    declared_arguments = generate_declared_arguments()
+
+    # Get substitution for all arguments
+    world = LaunchConfiguration("world")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    ign_verbosity = LaunchConfiguration("ign_verbosity")
+    log_level = LaunchConfiguration("log_level")
+
+    # List of included launch descriptions
+    launch_descriptions = [
+        # Launch Ignition Gazebo
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_ign_gazebo"),
+                        "launch",
+                        "ign_gazebo.launch.py",
+                    ]
+                )
+            ),
+            launch_arguments=[("ign_args", [world, " -r -v ", ign_verbosity])],
+        ),
+    ]
+
+    # List of nodes to be launched
+    nodes = [
+        # ros_ign_bridge (clock -> ROS 2)
+        Node(
+            package="ros_ign_bridge",
+            executable="parameter_bridge",
+            output="log",
+            arguments=[
+                "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+                "--ros-args",
+                "--log-level",
+                log_level,
+            ],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+        # ros_ign_bridge (target pose -> ROS 2)
+        #Node(
+        #    package="ros_ign_bridge",
+        #    executable="parameter_bridge",
+        #    output="log",
+        #    arguments=[
+        #        "/model/target/pose"
+        #        + "@"
+        #        + "geometry_msgs/msg/PoseStamped[ignition.msgs.Pose",
+        #        "--ros-args",
+        #        "--log-level",
+        #        log_level,
+        #    ],
+        #    parameters=[{"use_sim_time": use_sim_time}],
+        #    remappings=[("/model/target/pose", "/target_pose")],
+        #),
+    ]
+
+    return LaunchDescription(declared_arguments + launch_descriptions + nodes)
+
+
+def generate_declared_arguments() -> List[DeclareLaunchArgument]:
+    """
+    Generate list of all launch arguments that are declared for this launch script.
+    """
+
+    return [
+        # World for Ignition Gazebo
+        DeclareLaunchArgument(
+            "world",
+            default_value=path.join(
+                get_package_share_directory("draw_svg"),
+                "worlds",
+                "follow_target.sdf",
+            ),
+            description="Name or filepath of world to load.",
+        ),
+        # Miscellaneous
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulated clock.",
+        ),
+        DeclareLaunchArgument(
+            "ign_verbosity",
+            default_value="2",
+            description="Verbosity level for Ignition Gazebo (0~4).",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="warn",
+            description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
+        ),
+    ]

src/draw_svg/launch/xarm_draw_svg.launch.py

@@ -0,0 +1,135 @@
+#!/usr/bin/env python3
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    prefix = LaunchConfiguration('prefix', default='')
+    hw_ns = LaunchConfiguration('hw_ns', default='xarm')
+    limited = LaunchConfiguration('limited', default=True)
+    effort_control = LaunchConfiguration('effort_control', default=False)
+    velocity_control = LaunchConfiguration('velocity_control', default=False)
+    add_gripper = LaunchConfiguration('add_gripper', default=False)
+    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
+    dof = LaunchConfiguration('dof', default=6)
+    robot_type = LaunchConfiguration('robot_type', default='lite')
+    no_gui_ctrl = LaunchConfiguration('no_gui_ctrl', default=False)
+
+    add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
+    geometry_type = LaunchConfiguration('geometry_type', default='box')
+    geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
+    geometry_height = LaunchConfiguration('geometry_height', default=0.1)
+    geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
+    geometry_length = LaunchConfiguration('geometry_length', default=0.1)
+    geometry_width = LaunchConfiguration('geometry_width', default=0.1)
+    geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
+    geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
+    geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
+    geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
+    geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
+
+    ros2_control_plugin = 'gazebo_ros2_control/GazeboSystem'
+    controllers_name = 'fake_controllers'
+    moveit_controller_manager_key = 'moveit_simple_controller_manager'
+    moveit_controller_manager_value = 'moveit_simple_controller_manager/MoveItSimpleControllerManager'
+
+    # robot moveit common launch
+    # xarm_moveit_config/launch/_robot_moveit_common.launch.py
+    robot_moveit_common_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
+        launch_arguments={
+            'prefix': prefix,
+            'hw_ns': hw_ns,
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            # 'add_gripper': add_gripper if robot_type.perform(context) == 'xarm' else 'false',
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': dof,
+            'robot_type': robot_type,
+            'no_gui_ctrl': no_gui_ctrl,
+            'ros2_control_plugin': ros2_control_plugin,
+            'controllers_name': controllers_name,
+            'moveit_controller_manager_key': moveit_controller_manager_key,
+            'moveit_controller_manager_value': moveit_controller_manager_value,
+            'add_other_geometry': add_other_geometry,
+            'geometry_type': geometry_type,
+            'geometry_mass': geometry_mass,
+            'geometry_height': geometry_height,
+            'geometry_radius': geometry_radius,
+            'geometry_length': geometry_length,
+            'geometry_width': geometry_width,
+            'geometry_mesh_filename': geometry_mesh_filename,
+            'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
+            'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
+            'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
+            'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
+            'use_sim_time': 'true'
+        }.items(),
+    )
+
+    # robot gazebo launch
+    # xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
+    robot_gazebo_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', '_robot_beside_table_gazebo.launch.py'])),
+        launch_arguments={
+            'prefix': prefix,
+            'hw_ns': hw_ns,
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': dof,
+            'robot_type': robot_type,
+            'ros2_control_plugin': ros2_control_plugin,
+            'load_controller': 'true',
+        }.items(),
+    )
+
+    # List of nodes to be launched
+        # Run the example node (Python)
+    followNode = Node(
+            package="draw_svg",
+            executable="follow.py",
+            output="log",
+            arguments=["--ros-args", "--log-level", "warn"],
+            parameters=[{"use_sim_time": True}],
+        )
+    drawNode = Node(
+            package="draw_svg",
+            executable="draw_svg.py",
+            output="log",
+            arguments=["--ros-args", "--log-level", "warn"],
+            parameters=[{"use_sim_time": True}],
+        )
+
+    # ros_ign_gazebo_create
+    #model = LaunchConfiguration("model")
+    #ros_ign_bridge = Node(
+    #        package="ros_ign_gazebo",
+    #        executable="create",
+    #        output="log",
+    #        arguments=["-file", model, "--ros-args", "--log-level", log_level],
+    #        parameters=[{"use_sim_time": use_sim_time}],
+    #    )
+
+    return [
+        robot_gazebo_launch,
+        robot_moveit_common_launch,
+        followNode,
+        drawNode,
+        #ros_ign_bridge,
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])

src/draw_svg/package.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>draw_svg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- <depend>ign_moveit2_examples</depend> -->
+  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>python3-lxml</depend>
+  <depend>python3-tk</depend>
+  <depend>python-imaging</depend>
+  <depend>python-numpy</depend>
+  <depend>python3-pil.imagetk</depend>
+  <depend>xarm_description</depend>
+  <depend>xarm_moveit_config</depend>
+  <!-- <depend>moveit_visual_tools</depend> -->
+  <!-- <depend>moveit_ros_planning_interface</depend> -->
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/draw_svg/rebuild.sh

@@ -0,0 +1,4 @@
+rm -r build/ install/ log/
+rosdep install --from-paths . --ignore-src -r -y
+colcon build
+#ros2 launch draw_svg draw_svg.launch.py

src/draw_svg/rviz/ign_moveit2_examples.rviz

@@ -0,0 +1,337 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /MotionPlanning1
+      Splitter Ratio: 0.6278260946273804
+    Tree Height: 412
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Acceleration_Scaling_Factor: 1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: true
+        Robot Alpha: 0.25
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.1s
+        Trail Step Size: 1
+        Trajectory Topic: /display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 0.5
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0.10000000149011612
+        Joint Violation Color: 255; 0; 255
+        Planning Group: arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 0.5
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panda_link0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.3333333432674408
+        Y: 0
+        Z: 0.5
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.39269909262657166
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7853981852531433
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 720
+  Hide Left Dock: false
+  Hide Right Dock: true
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000247000003b0fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000046000001eb000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000005201000003fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000232000001c4000001b9010000030000000100000110000003b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000046000003b0000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000048fc0100000002fb0000000800540069006d0065000000000000000780000002d701000003fb0000000800540069006d0065010000000000000450000000000000000000000538000003b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1280
+  X: 0
+  Y: 0

src/draw_svg/src/cpp/draw_svg.cpp

@@ -0,0 +1,10 @@
+#include <cstdio>
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  printf("hello world draw_svg package\n");
+  return 0;
+}

src/draw_svg/src/cpp/follow.cpp

@@ -0,0 +1,141 @@
+//#include "follow.h"
+
+#include <geometry_msgs/msg/pose_stamped.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <rclcpp/qos.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit_msgs/msg/collision_object.hpp>
+//#include <moveit_visual_tools/moveit_visual_tools.h>
+#include <std_msgs/msg/color_rgba.hpp>
+
+const std::string MOVE_GROUP = "lite6";
+
+class MoveItFollowTarget : public rclcpp::Node
+{
+public:
+  /// Constructor
+  MoveItFollowTarget();
+
+  /// Move group interface for the robot
+  moveit::planning_interface::MoveGroupInterface move_group_;
+  /// Subscriber for target pose
+  rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr target_pose_sub_;
+  /// Target pose that is used to detect changes
+  geometry_msgs::msg::Pose previous_target_pose_;
+
+  bool moved = false;
+  std::vector<geometry_msgs::msg::Pose> waypoints;
+
+
+private:
+  /// Callback that plans and executes trajectory each time the target pose is changed
+  void target_pose_callback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr msg);
+};
+
+MoveItFollowTarget::MoveItFollowTarget() : Node("follow_target"),
+                                           move_group_(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP)
+{
+  // Use upper joint velocity and acceleration limits
+  this->move_group_.setMaxAccelerationScalingFactor(1.0);
+  this->move_group_.setMaxVelocityScalingFactor(1.0);
+
+  // Subscribe to target pose
+  target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));
+
+  RCLCPP_INFO(this->get_logger(), "Initialization successful.");
+}
+
+void MoveItFollowTarget::target_pose_callback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr msg)
+{
+  // Return if target pose is unchanged
+  if (msg->pose == this->previous_target_pose_)
+  {
+    return;
+  }
+
+  RCLCPP_INFO(this->get_logger(), "Target pose has changed. Planning and executing...");
+
+  //if (this->moved)
+  if (false)
+  {
+    //https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/how_to_guides/using_ompl_constrained_planning/src/ompl_constrained_planning_tutorial.cpp
+    //
+    moveit_msgs::msg::PositionConstraint plane_constraint;
+    plane_constraint.header.frame_id = this->move_group_.getPoseReferenceFrame();
+    plane_constraint.link_name = this->move_group_.getEndEffectorLink();
+    shape_msgs::msg::SolidPrimitive plane;
+    plane.type = shape_msgs::msg::SolidPrimitive::BOX;
+    //plane.dimensions = { 5.0, 0.0005, 5.0 };
+    plane.dimensions = { 5.0, 1.0, 5.0 };
+    plane_constraint.constraint_region.primitives.emplace_back(plane);
+
+    geometry_msgs::msg::Pose plane_pose;
+    plane_pose.position.x = 0.14;
+    plane_pose.position.y = -0.3;
+    plane_pose.position.z = 1.0;
+    plane_pose.orientation.x = 0.0;
+    plane_pose.orientation.y = 0.0;
+    plane_pose.orientation.z = 0.0;
+    plane_pose.orientation.w = 0.0;
+    plane_constraint.constraint_region.primitive_poses.emplace_back(plane_pose);
+    plane_constraint.weight = 1.0;
+
+    moveit_msgs::msg::Constraints plane_constraints;
+    plane_constraints.position_constraints.emplace_back(plane_constraint);
+    plane_constraints.name = "use_equality_constraints";
+    this->move_group_.setPathConstraints(plane_constraints);
+
+    // And again, configure and solve the planning problem
+    this->move_group_.setPoseTarget(msg->pose);
+    this->move_group_.setPlanningTime(10.0);
+    //success = (this->move_group_.plan(plan) == moveit::core::MoveItErrorCode::SUCCESS);
+    //RCLCPP_INFO(this->get_logger(), "Plan with plane constraint %s", success ? "" : "FAILED");
+    this->move_group_.move();
+  }
+  //else
+  //{
+  //  // Plan and execute motion
+  //  this->move_group_.setPoseTarget(msg->pose);
+  //  this->move_group_.move();
+  //}
+
+  waypoints.push_back(msg->pose);
+
+  if (waypoints.size() >= 2)
+  {
+      moveit_msgs::msg::RobotTrajectory trajectory;
+
+      // dangerous with real robot
+      // https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html
+      const double jump_threshold = 0.0;
+
+      const double eef_step = 0.01;
+      double fraction = this->move_group_.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
+      RCLCPP_INFO(this->get_logger(), "Visualizing plan 4 (Cartesian path) (%.2f%% achieved)", fraction * 100.0);
+
+      this->move_group_.execute(trajectory);
+
+      waypoints.clear();
+  }
+
+  // Update for next callback
+  previous_target_pose_ = msg->pose;
+  this->moved = true;
+}
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+
+  auto target_follower = std::make_shared<MoveItFollowTarget>();
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(target_follower);
+  executor.spin();
+
+  rclcpp::shutdown();
+  return EXIT_SUCCESS;
+}

src/draw_svg/src/cpp/log_position.cpp

@@ -0,0 +1,76 @@
+#include <memory>
+#include <cstdio>
+#include <iostream>
+#include <string>
+
+#include <rclcpp/rclcpp.hpp>
+#include <moveit/move_group_interface/move_group_interface.h>
+//#include <moveit/moveit_commander>
+//https://github.com/AndrejOrsula/ign_moveit2_examples/blob/master/examples/cpp/ex_follow_target.cpp
+const std::string MOVE_GROUP = "lite6";
+
+class PositionLogger : public rclcpp::Node
+{
+public:
+  /// Constructor
+  PositionLogger();
+
+  /// Move group interface for the robot
+  moveit::planning_interface::MoveGroupInterface move_group_;
+  /// Subscriber for target pose
+  //rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr target_pose_sub_;
+  /// Target pose that is used to detect changes
+  //geometry_msgs::msg::Pose previous_target_pose_;
+
+private:
+  /// Callback that plans and executes trajectory each time the target pose is changed
+  void log_position();
+};
+
+PositionLogger::PositionLogger() : Node("position_logger"),
+                                   move_group_(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP)
+{
+  // Use upper joint velocity and acceleration limits
+  this->move_group_.setMaxAccelerationScalingFactor(1.0);
+  this->move_group_.setMaxVelocityScalingFactor(1.0);
+
+  // Subscribe to target pose
+  //target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));
+  auto ros_clock = rclcpp::Clock::make_shared();
+  auto timer_ = rclcpp::create_timer(this, ros_clock, rclcpp::Duration::from_nanoseconds(5000000),
+   [=]()
+   {
+       this->log_position();
+   });
+
+  RCLCPP_INFO(this->get_logger(), "Initialization successful.");
+}
+
+void PositionLogger::log_position()
+{
+  auto const logger = rclcpp::get_logger("position_logger");
+
+  auto msg = this->move_group_.getCurrentPose();
+  auto p = msg.pose.position;
+  char a[100];
+  std::sprintf(a, "Position x: %f, y: %f, z: %f", p.x,p.y,p.z);
+  std::string s(a);
+
+  //rclcpp::RCLCPP_INFO(logger, a);
+  RCLCPP_INFO(logger, "AA");
+}
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  // TODO Try moveit_commander::roscpp_initialize
+
+  auto pl = std::make_shared<PositionLogger>();
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(pl);
+  executor.spin();
+
+  rclcpp::shutdown();
+  return EXIT_SUCCESS;
+}

src/draw_svg/src/py/draw_svg.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+"""Example that uses MoveIt 2 to follow a target inside Ignition Gazebo"""
+
+import rclpy
+from geometry_msgs.msg import Pose, PoseStamped
+from pymoveit2 import MoveIt2
+from pymoveit2.robots import panda
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from random import uniform as rand
+import math
+#from tf2_ros.transformations import quaternion_from_euler
+import lxml.etree as ET
+
+
+def quaternion_from_euler(ai, aj, ak):
+    ai /= 2.0
+    aj /= 2.0
+    ak /= 2.0
+    ci = math.cos(ai)
+    si = math.sin(ai)
+    cj = math.cos(aj)
+    sj = math.sin(aj)
+    ck = math.cos(ak)
+    sk = math.sin(ak)
+    cc = ci*ck
+    cs = ci*sk
+    sc = si*ck
+    ss = si*sk
+
+    q = [0,0,0,0]
+    q[0] = cj*sc - sj*cs
+    q[1] = cj*ss + sj*cc
+    q[2] = cj*cs - sj*sc
+    q[3] = cj*cc + sj*ss
+
+    return q
+
+def translate(val, lmin, lmax, rmin, rmax):
+    lspan = lmax - lmin
+    rspan = rmax - rmin
+    val = float(val - lmin) / float(lspan)
+    return rmin + (val * rspan)
+
+def map_point_function(x_pixels, y_pixels, xlim_lower, xlim_upper, ylim_lower, ylim_upper):
+    def map_point(xpix,ypix):
+       x = translate(xpix, 0, x_pixels, xlim_lower, xlim_upper)
+       y = translate(ypix, 0, y_pixels, ylim_lower, ylim_upper)
+       return (x,y)
+    return map_point
+
+
+class PublishTarget(Node):
+    def __init__(self):
+        super().__init__('publisher')
+        self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
+        timer_period = 4.0  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+        # TODO get dimensions from svg
+
+        #print(p)
+        #print(p.position)
+        #print(p.orientation)
+        xml = ET.parse('svg/test.svg')
+        svg = xml.getroot()
+        self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.2, 0.4, -0.1, 0.1)
+        self.points = []
+        for child in svg:
+            if (child.tag == 'line'):
+                self.points.append((float(child.get('x1')), float(child.get('y1'))))
+                self.points.append((float(child.get('x2')), float(child.get('y2'))))
+
+
+    def timer_callback(self):
+        next_point = self.points[self.i]
+        point = self.map_point(float(next_point[0]),float(next_point[1]))
+        p = Pose()
+        p.position.x = point[0]
+        p.position.y = point[1]
+        p.position.z = 0.1
+        q = quaternion_from_euler(0.0, math.pi, 0.0)
+        #p.orientation = q
+        p.orientation.x = q[0]
+        p.orientation.y = q[1]
+        p.orientation.z = q[2]
+        p.orientation.w = q[3]
+        ps = PoseStamped()
+        ps.pose = p
+        #print(ps)
+        self.publisher_.publish(ps)
+        self.get_logger().info('Publishing to /target_pose: "%s"' % p)
+        self.i = (self.i + 1) % len(self.points)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    publisher = PublishTarget()
+
+    rclpy.spin(publisher)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

src/draw_svg/src/py/drawing_surface.py

@@ -0,0 +1,207 @@
+#!/usr/bin/env python3
+"""GUI for virtual drawing surface"""
+
+import rclpy
+from geometry_msgs.msg import Pose, PoseWithCovariance, Point
+from nav_msgs.msg import Odometry
+from sensor_msgs.msg import Image as SensorImage
+from robots import lite6
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
+
+from queue import Queue
+
+import tkinter as tk
+import math
+
+import threading
+
+from PIL import ImageTk
+from PIL import Image as PImage
+import numpy as np
+
+
+def translate(val, lmin, lmax, rmin, rmax):
+    lspan = lmax - lmin
+    rspan = rmax - rmin
+    val = float(val - lmin) / float(lspan)
+    return rmin + (val * rspan)
+
+class DrawingApp(tk.Tk):
+    def __init__(self, point_queue, image_queue):
+        tk.Tk.__init__(self)
+
+        self.point_queue = point_queue
+        self.image_queue = image_queue
+        self.width = 400
+        self.height = 400
+        self.img = PImage.new("RGB", (self.width, self.height), (255, 255, 255))
+        self.arr = np.array(self.img)
+        self.frame_delay = 1 #ms
+        self.window_update_delay = 300 #ms
+        self.counter = 0
+        self.read_queue()
+
+        self.canvas = tk.Canvas(self,width=self.width,height=self.height)
+
+
+        self.tk_image = ImageTk.PhotoImage(self.img)
+        self.canvas.create_image(self.width/2,self.height/2,image=self.tk_image)
+        self.canvas.pack(side='top', expand=True, fill='both')
+
+        def reset():
+            self.img = PImage.new("RGB", (self.width, self.height), (255, 255, 255))
+            self.arr = np.array(self.img)
+        tk.Button(self.canvas, text= "reset", command=reset).pack()
+
+        self.draw_window()
+
+    def draw(self,x,y,z):
+        # putpixel is too slow
+        #self.img.putpixel((int(x), int(y)), (255, 0, 0))
+        self.arr[x,y,1] = 0
+        self.arr[x,y,2] = 0
+        self.arr[x+1,y,1] = 0
+        self.arr[x+1,y,2] = 0
+        self.arr[x+1,y+1,1] = 0
+        self.arr[x+1,y+1,2] = 0
+        self.arr[x,y+1,1] = 0
+        self.arr[x,y+1,2] = 0
+        #print("Set x:{} y:{} to:{}".format(x,y,255))
+
+    def draw_window(self):
+        self.img = PImage.fromarray(self.arr)
+        self.tk_image = ImageTk.PhotoImage(self.img)
+        self.canvas.create_image(self.width/2,self.height/2,image=self.tk_image)
+        self.image_queue.put(self.get_image_message())
+        #self.after(self.window_update_delay, lambda: self.draw_window())
+
+    def read_queue(self):
+        '''Read queue and draw circle every 10 ms'''
+        self.counter = self.counter + self.frame_delay
+        if self.point_queue.empty():
+            self.after(self.frame_delay, lambda: self.read_queue())
+            return
+
+        while not self.point_queue.empty():
+            p = self.point_queue.get()
+            #x = translate(p.x, -1.0, 0.5, 0, self.width)
+            #y = translate(p.y, 0.5, -1.0, 0, self.height)
+            x = translate(p.x, -1.0, 0.5, 0, self.width)
+            y = translate(p.y, -1.0, 0.5, 0, self.height)
+            self.draw(int(x),int(y),0)
+
+        if self.counter >= self.window_update_delay:
+            #print("Redraw")
+            self.counter = 0
+            self.draw_window()
+
+        self.after(self.frame_delay, lambda: self.read_queue())
+
+    # https://stackoverflow.com/questions/64373334/how-can-i-publish-pil-image-binary-through-ros-without-opencv
+    def get_image_message(self):
+        msg = SensorImage()
+        #msg.header.stamp = rospy.Time.now()
+        msg.height = self.img.height
+        msg.width = self.img.width
+        msg.encoding = "rgb8"
+        msg.is_bigendian = False
+        msg.step = 3 * self.img.width
+        msg.data = np.array(self.img).tobytes()
+        return msg
+
+class LogPen(Node):
+    def __init__(self, point_queue=Queue()):
+
+        self.queue = point_queue
+        super().__init__("log_pen")
+
+        # Create callback group that allows execution of callbacks in parallel without restrictions
+        self._callback_group = ReentrantCallbackGroup()
+
+        self.create_subscription(
+            msg_type=Odometry,
+            topic="/pen_position",
+            callback=self.pen_position_callback,
+            qos_profile=QoSProfile(reliability=ReliabilityPolicy.BEST_EFFORT,
+                                   history=HistoryPolicy.KEEP_LAST,
+                                   depth=1),
+            callback_group=self._callback_group,
+        )
+        self.get_logger().info("Initialization successful.")
+    def pen_position_callback(self, msg: Odometry):
+        """
+        Log position of pen
+        """
+        p = msg.pose.pose.position
+        #self.get_logger().info("x:{} y:{} z:{}".format(p.x, p.y, p.z))
+        self.queue.put(p)
+
+class PublishImage(Node):
+    def __init__(self, image_queue=Queue()):
+
+        self.image_queue = image_queue
+        super().__init__("publish_image")
+
+        self.publisher_ = self.create_publisher(SensorImage, '/drawing_surface/image_raw', 10)
+        timer_period = 0.0002  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.get_logger().info("Initialization successful.")
+
+    def timer_callback(self):
+        """
+        Output image from queue
+        """
+        if self.image_queue.empty():
+            return
+
+        img = self.image_queue.get()
+        #self.get_logger().info("Publishing image {}x{}".format(img.width,img.height))
+
+        self.publisher_.publish(img)
+
+
+
+def main(args=None):
+
+    rclpy.init(args=args)
+
+    log_pen = LogPen()
+
+    executor = rclpy.executors.MultiThreadedExecutor(2)
+    executor.add_node(log_pen)
+    executor.spin()
+
+    rclpy.shutdown()
+    exit(0)
+
+def start_node_thread(constructor, queue=Queue()):
+
+    node = constructor(queue)
+
+    executor = rclpy.executors.MultiThreadedExecutor(2)
+    executor.add_node(node)
+    executor.spin()
+
+
+if __name__ == "__main__":
+    point_queue = Queue()
+    image_queue = Queue()
+
+    rclpy.init()
+
+    global app
+    app = DrawingApp(point_queue, image_queue)
+
+    global log_thread
+    log_thread = threading.Thread(target=start_node_thread, args=[LogPen, point_queue])
+    log_thread.start()
+
+    global image_thread
+    image_thread = threading.Thread(target=start_node_thread, args=[PublishImage, image_queue])
+    image_thread.start()
+
+    app.mainloop()
+    rclpy.shutdown()
+    exit(0)

src/draw_svg/src/py/follow.py

@@ -0,0 +1,87 @@
+#!/usr/bin/env python3
+"""Example that uses MoveIt 2 to follow a target inside Ignition Gazebo"""
+
+import rclpy
+from geometry_msgs.msg import Pose, PoseStamped
+from pymoveit2 import MoveIt2
+from robots import lite6
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+
+
+class FollowTarget(Node):
+    def __init__(self):
+
+        super().__init__("follow_py")
+
+        # Create callback group that allows execution of callbacks in parallel without restrictions
+        self._callback_group = ReentrantCallbackGroup()
+
+        # Create MoveIt 2 interface
+        self._moveit2 = MoveIt2(
+            node=self,
+            joint_names=lite6.joint_names(),
+            base_link_name=lite6.base_link_name(),
+            end_effector_name=lite6.end_effector_name(),
+            group_name=lite6.MOVE_GROUP_ARM,
+            execute_via_moveit=True,
+            callback_group=self._callback_group,
+        )
+        # Use upper joint velocity and acceleration limits
+        self._moveit2.max_velocity = 1.0
+        self._moveit2.max_acceleration = 1.0
+
+        # Create a subscriber for target pose
+        p = Pose()
+        p.position.x=0.5
+        p.position.y=0.5
+        self.__previous_target_pose = p
+        self.create_subscription(
+            msg_type=PoseStamped,
+            topic="/target_pose",
+            callback=self.target_pose_callback,
+            qos_profile=QoSProfile(depth=1),
+            callback_group=self._callback_group,
+        )
+
+        self.get_logger().info("Initialization successful.")
+
+    def target_pose_callback(self, msg: PoseStamped):
+        """
+        Plan and execute trajectory each time the target pose is changed
+        """
+
+        # Return if target pose is unchanged
+        if msg.pose == self.__previous_target_pose:
+            return
+
+        self.get_logger().info("Target pose has changed. Planning and executing...")
+
+        # Options https://github.com/AndrejOrsula/pymoveit2/blob/master/pymoveit2/moveit2.py
+        # Plan and execute motion
+        self._moveit2.move_to_pose(
+            position=msg.pose.position,
+            quat_xyzw=msg.pose.orientation,
+            cartesian=True,
+        )
+
+        # Update for next callback
+        self.__previous_target_pose = msg.pose
+
+def main(args=None):
+
+    rclpy.init(args=args)
+
+    target_follower = FollowTarget()
+
+    executor = rclpy.executors.MultiThreadedExecutor(2)
+    executor.add_node(target_follower)
+    executor.spin()
+
+    rclpy.shutdown()
+    exit(0)
+
+
+if __name__ == "__main__":
+    main()

src/draw_svg/src/py/readsvg.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+
+import lxml.etree as ET
+
+xml = ET.parse('svg/test.svg')
+svg = xml.getroot()
+print(svg)
+
+# AttributeError: 'lxml.etree._ElementTree' object has no attribute 'tag'
+print(svg.tag)
+
+# TypeError: 'lxml.etree._ElementTree' object is not subscriptable
+print(svg[0])
+
+# TypeError: 'lxml.etree._ElementTree' object is not iterable
+for child in svg:
+    print('width:', svg.get('width'))
+    if (child.tag == 'line'):
+        print(child.get('x1'))
+        print(child.get('x2'))
+        print(child.get('y1'))
+        print(child.get('y2'))

src/draw_svg/src/py/robots/lite6.py

@@ -0,0 +1,35 @@
+from typing import List
+
+MOVE_GROUP_ARM: str = "lite6"
+MOVE_GROUP_GRIPPER: str = "gripper"
+
+OPEN_GRIPPER_JOINT_POSITIONS: List[float] = [0.04, 0.04]
+CLOSED_GRIPPER_JOINT_POSITIONS: List[float] = [0.0, 0.0]
+
+# https://github.com/xArm-Developer/xarm_ros2/blob/master/xarm_moveit_config/srdf/_lite6_macro.srdf.xacro
+def joint_names(prefix: str = "") -> List[str]:
+    return [
+        prefix + "world_joint",
+        prefix + "joint1",
+        prefix + "joint2",
+        prefix + "joint3",
+        prefix + "joint4",
+        prefix + "joint5",
+        prefix + "joint6",
+        prefix + "joint_eef",
+    ]
+
+
+def base_link_name(prefix: str = "") -> str:
+    return prefix + "link_base"
+
+
+def end_effector_name(prefix: str = "") -> str:
+    return prefix + "link_eef"
+
+
+def gripper_joint_names(prefix: str = "") -> List[str]:
+    return [
+        prefix + "link_eef",
+        prefix + "link_eef",
+    ]

src/draw_svg/svg/test.svg

@@ -0,0 +1,7 @@
+<svg height="210" width="500">
+  <line x1="100" y1="200" x2="250" y2="10" style="stroke:rgb(255,0,0);stroke-width:2" />
+  <line x1="250" y1="10" x2="400" y2="200" style="stroke:rgb(255,0,0);stroke-width:2" />
+  <line x1="400" y1="200" x2="20" y2="90" style="stroke:rgb(255,0,0);stroke-width:2" />
+  <line x1="20" y1="90" x2="450" y2="90" style="stroke:rgb(255,0,0);stroke-width:2" />
+  <line x1="450" y1="90" x2="100" y2="200" style="stroke:rgb(255,0,0);stroke-width:2" />
+</svg>

src/draw_svg/test.sh

@@ -0,0 +1 @@
+ros2 topic pub --once /target_pose geometry_msgs/msg/PoseStamped '{header:{}, pose:{position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {}}}'

src/draw_svg/urdf/lite6.tmp.urdf

@@ -0,0 +1,436 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from urdf/xarm_pen.urdf.xacro       | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="xarm6">
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
+      <parameters>/root/ws/install/share/xarm_controller/config/xarm6_controllers.yaml</parameters>
+    </plugin>
+  </gazebo>
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="link_base"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <ros2_control name="UFRobotSystem" type="system">
+    <hardware>
+      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      <param name="hw_ns">xarm</param>
+      <param name="velocity_control">False</param>
+      <param name="prefix">P</param>
+      <param name="robot_ip">R</param>
+      <param name="report_type">normal</param>
+      <param name="dof">6</param>
+      <param name="baud_checkset">True</param>
+      <param name="default_gripper_baud">2000000</param>
+      <param name="robot_type">lite</param>
+      <param name="add_gripper">False</param>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.14</param>
+        <param name="max">3.14</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <!-- <state_interface name="effort"/> -->
+    </joint>
+    <joint name="joint2">
+      <command_interface name="position">
+        <param name="min">-2.61799</param>
+        <param name="max">2.61799</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.14</param>
+        <param name="max">3.14</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <!-- <state_interface name="effort"/> -->
+    </joint>
+    <joint name="joint3">
+      <command_interface name="position">
+        <param name="min">-0.061087</param>
+        <param name="max">5.235988</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.14</param>
+        <param name="max">3.14</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <!-- <state_interface name="effort"/> -->
+    </joint>
+    <joint name="joint4">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.14</param>
+        <param name="max">3.14</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <!-- <state_interface name="effort"/> -->
+    </joint>
+    <joint name="joint5">
+      <command_interface name="position">
+        <param name="min">-2.1642</param>
+        <param name="max">2.1642</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.14</param>
+        <param name="max">3.14</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <!-- <state_interface name="effort"/> -->
+    </joint>
+    <joint name="joint6">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.14</param>
+        <param name="max">3.14</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <!-- <state_interface name="effort"/> -->
+    </joint>
+  </ros2_control>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Silver">
+    <color rgba="0.753 0.753 0.753 1.0"/>
+  </material>
+  <link name="link_base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00829544579053192 3.26357432323433E-05 0.0631194584987089"/>
+      <mass value="1.65393501783165"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/base.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/base.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00036 0.03788 -0.0027"/>
+      <mass value="1.169"/>
+      <inertia ixx="1.45164E-03" ixy="1.24E-05" ixz="-6.7E-06" iyy="8.873E-04" iyz="1.255E-04" izz="1.31993E-03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link1.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.2435"/>
+    <parent link="link_base"/>
+    <child link="link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.178 0.0 0.0576"/>
+      <mass value="1.192"/>
+      <inertia ixx="1.5854E-03" ixy="-6.766E-06" ixz="-1.15136E-03" iyy="5.6097E-03" iyz="1.14E-06" izz="4.85E-03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link2.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin rpy="1.5708 -1.5708 3.1416" xyz="0 0 0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50.0" lower="-2.61799" upper="2.61799" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.07285 -0.030 -0.0009"/>
+      <mass value="0.930"/>
+      <inertia ixx="8.861E-04" ixy="-3.9287E-04" ixz="7.066E-05" iyy="1.5785E-03" iyz="-2.445E-05" izz="1.84677E-03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link3.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin rpy="-3.1416 0 1.5708" xyz="0.2002 0 0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="32.0" lower="-0.061087" upper="5.235988" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0004 -0.0275 -0.0817"/>
+      <mass value="1.31"/>
+      <inertia ixx="3.705E-03" ixy="-2.0E-06" ixz="7.17E-06" iyy="3.0455E-03" iyz="-9.3188E-04" izz="1.5413E-03"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link4.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.087 -0.22761 0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="32.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.010 0.0019"/>
+      <mass value="0.784"/>
+      <inertia ixx="5.668E-04" ixy="6E-07" ixz="-5.3E-06" iyy="5.077E-04" iyz="-4.8E-07" izz="5.3E-04"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link5.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="32.0" lower="-2.1642" upper="2.1642" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.00194 -0.0102"/>
+      <mass value="0.180"/>
+      <inertia ixx="7.726E-05" ixy="1E-06" ixz="4E-07" iyy="8.5665E-05" iyz="-6E-07" izz="1.4814E-04"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link6.stl"/>
+      </geometry>
+      <material name="Silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:////root/ws/install/share/xarm_description/meshes/lite6/visual/link6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0.0625 0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link_eef"/>
+  <joint name="joint_eef" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link6"/>
+    <child link="link_eef"/>
+  </joint>
+  <transmission name="tran1">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran2">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran3">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran4">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint4">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran5">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran6">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="link_base">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link1">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link2">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link3">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link4">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link5">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link6">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <joint name="eef_joint" type="fixed">
+    <parent link="link_eef"/>
+    <child link="pen_link"/>
+  </joint>
+  <link name="pen_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.2" radius="0.005"/>
+      </geometry>
+      <material name="Cyan">
+        <color rgba="0.0 1.0 1.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_p3d.cpp -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="pen_position">
+      <!-- <alwaysOn>true</alwaysOn> -->
+      <ros>
+        <remapping>odom:=pen_position</remapping>
+      </ros>
+      <frame_name>world</frame_name>
+      <!-- <body_name>pen_link</body_name> -->
+      <body_name>link6</body_name>
+      <!--       topic name is always /odom -->
+      <!-- <topic_name>pen_position</topic_name> -->
+      <!--       Update rate in Hz -->
+      <update_rate>10</update_rate>
+      <!-- <xyzOffsets>0 0 0</xyzOffsets> -->
+      <!-- <rpyOffsets>0 0 0</rpyOffsets> -->
+    </plugin>
+  </gazebo>
+</robot>
+<!-- <robot name="lite6_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
+     <xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro"/>
+     <xacro:lite6_urdf prefix=''/> -->
+<!--
+     </robot> -->

src/draw_svg/urdf/xarm_pen.urdf.xacro

@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="xarm$(arg dof)">
+    <!-- <robot xmlns:xacro="http://ros.org/wiki/xacro" name="lite6"> -->
+  <xacro:arg name="prefix" default=""/>
+  <xacro:arg name="hw_ns" default="xarm"/>
+  <xacro:arg name="limited" default="false"/>
+  <xacro:arg name="effort_control" default="false"/>
+  <xacro:arg name="velocity_control" default="false"/>
+  <xacro:arg name="add_gripper" default="false"/>
+  <xacro:arg name="add_vacuum_gripper" default="false"/>
+  <xacro:arg name="dof" default="6"/>
+  <xacro:arg name="robot_type" default="lite"/>
+  <xacro:arg name="ros2_control_plugin" default="uf_robot_hardware/UFRobotSystemHardware"/>
+  <xacro:arg name="ros2_control_params" default="$(find xarm_controller)/config/xarm$(arg dof)_controllers.yaml"/>
+
+  <xacro:arg name="add_other_geometry" default="false"/>
+  <xacro:arg name="geometry_type" default="box"/>
+  <xacro:arg name="geometry_mass" default="0.1"/>
+  <xacro:arg name="geometry_height" default="0.1"/>
+  <xacro:arg name="geometry_radius" default="0.1"/>
+  <xacro:arg name="geometry_length" default="0.1"/>
+  <xacro:arg name="geometry_width" default="0.1"/>
+  <xacro:arg name="geometry_mesh_filename" default=""/>
+  <xacro:arg name="geometry_mesh_origin_xyz" default="0 0 0"/>
+  <xacro:arg name="geometry_mesh_origin_rpy" default="0 0 0"/>
+  <xacro:arg name="geometry_mesh_tcp_xyz" default="0 0 0"/>
+  <xacro:arg name="geometry_mesh_tcp_rpy" default="0 0 0"/>
+
+  <xacro:arg name="robot_ip" default=""/>
+  <xacro:arg name="report_type" default="normal"/>
+  <xacro:arg name="baud_checkset" default="true"/>
+  <xacro:arg name="default_gripper_baud" default="2000000"/>
+
+  <!-- gazebo_plugin -->
+  <xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
+  <xacro:gazebo_ros_control_plugin ros2_control_params="$(arg ros2_control_params)"/>
+
+  <!-- load xarm device -->
+  <!-- Load Lite6 Robot Model URDF -->
+  <xacro:include filename="$(find xarm_description)/urdf/lite6/lite6_robot_macro.xacro" />
+  <xacro:lite6_robot prefix="$(arg prefix)" namespace="xarm" limited="$(arg limited)"
+                     effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)"
+                     ros2_control_plugin="$(arg ros2_control_plugin)"
+                     attach_to="world" xyz="0 0 0" rpy="0 0 0"
+                     ros2_control_params="$(arg ros2_control_params)"
+                     load_gazebo_plugin="false"
+                     add_gripper="$(arg add_gripper)"
+                     robot_ip="$(arg robot_ip)"
+                     report_type="$(arg report_type)"
+                     baud_checkset="$(arg baud_checkset)"
+                     default_gripper_baud="$(arg default_gripper_baud)" />
+
+  <joint name="eef_joint" type="fixed">
+      <parent link="link_eef"/>
+      <child link="pen_link"/>
+  </joint>
+  <link name="pen_link">
+    <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <cylinder radius="0.005" length="0.2"/>
+        </geometry>
+        <material name="Cyan">
+            <color rgba="0.0 1.0 1.0 1.0"/>
+        </material>
+    </visual>
+
+    <collision>
+        <geometry>
+            <box size="0 0 0"/>
+        </geometry>
+    </collision>
+  </link>
+
+  <!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_p3d.cpp -->
+  <gazebo>
+    <plugin name="pen_position" filename="libgazebo_ros_p3d.so">
+        <!-- <alwaysOn>true</alwaysOn> -->
+      <ros>
+        <remapping>odom:=pen_position</remapping>
+      </ros>
+      <frame_name>world</frame_name>
+      <!-- <body_name>pen_link</body_name> -->
+      <body_name>link6</body_name>
+      <!--       topic name is always /odom -->
+      <!-- <topic_name>pen_position</topic_name> -->
+      <!--       Update rate in Hz -->
+      <update_rate>10</update_rate>
+      <!-- <xyzOffsets>0 0 0</xyzOffsets> -->
+      <!-- <rpyOffsets>0 0 0</rpyOffsets> -->
+    </plugin>
+  </gazebo>
+
+</robot>
+<!-- <robot name="lite6_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
+     <xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro"/>
+     <xacro:lite6_urdf prefix=''/> -->
+
+<!--
+     </robot> -->

src/draw_svg/worlds/draw_svg_world.sdf

@@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<!-- <sdf version="1.9"> -->
+<sdf version="1.7">
+  <world name="draw_svg_world">
+
+    <!-- Physics -->
+    <plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics">
+      <engine>
+        <filename>ignition-physics-dartsim-plugin</filename>
+      </engine>
+      <dart>
+        <collision_detector>bullet</collision_detector>
+      </dart>
+    </plugin>
+    <physics name="physics_config" type="dart">
+      <max_step_size>0.005</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <!-- Scene -->
+    <plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <scene>
+      <ambient>0.8 0.8 0.8</ambient>
+      <grid>false</grid>
+    </scene>
+
+    <!-- User Commands (transform control) -->
+    <plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+
+
+    <!--              -->
+    <!-- Illumination -->
+    <!--              -->
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.3 0.3 -0.9</direction>
+    </light>
+
+
+    <!--        -->
+    <!-- Models -->
+    <!--        -->
+    <!-- Ground -->
+    <model name="ground_plane">
+      <pose>0 0 0 0 0 0</pose>
+      <static>true</static>
+      <link name="ground_plane_link">
+      <collision name="ground_plane_collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+          </plane>
+        </geometry>
+      </collision>
+      <visual name="ground_plane_visual">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+        </material>
+      </visual>
+         </link>
+    </model>
+    <model name="drawing_surface">
+      <pose>-0.14 -0.3 0.5 0 0 0</pose>
+      <static>true</static>
+      <link name="drawing_surface_link">
+        <collision name="drawing_surface_collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>0.28 0.21</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="drawing_surface_visual">
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+             <plane>
+               <normal>0 0 1</normal>
+               <size>0.28 0.21</size>
+             </plane>
+           </geometry>
+      <!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_video.cpp -->
+      <!--  https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/worlds/gazebo_ros_video_demo.world -->
+        <!--         TODO: note docs outdated: https://classic.gazebosim.org/tutorials?tut=ros_gzplugins -->
+          <plugin name="drawing_surface" filename="libgazebo_ros_video.so">
+            <!-- <ros>
+                 <remapping>~/image_raw:=/camera1/image_raw</remapping>
+                 </ros> -->
+            <height>400</height>
+            <width>400</width>
+          </plugin>
+        </visual>
+        <!-- <inertial>
+             <origin xyz="0 0 1" rpy="0 0 0"/>
+             <mass value="1"/>
+             <inertia
+             ixx="1.0" ixy="0.0" ixz="0.0"
+             iyy="1.0" iyz="0.0"
+             izz="1.0"/>
+             </inertial> -->
+      </link>
+    </model>
+    <!-- <include>
+         <uri>model://ground_plane</uri>
+         <pose>0.0 -0.84 0 0 0 0</pose>
+         </include> -->
+    <!-- <include>
+         <uri>model://sun</uri>
+         </include> -->
+    <!-- <include>
+         <uri>model://table</uri>
+         <name>table</name>
+         <pose>0.0 -0.84 0 0 0 0</pose>
+         </include>
+    -->
+    <!-- Static target -->
+    <!-- <model name="target">
+         <static>true</static>
+         <pose>0.5 -0.25 0.5 3.1415927 0 0</pose>
+         <link name="target_link">
+         <visual name="target_visual">
+         <cast_shadows>false</cast_shadows>
+         <geometry>
+         <box>
+         <size>0.04 0.04 0.04</size>
+         </box>
+         </geometry>
+         <material>
+         <diffuse>0.1 0.1 0.1 1</diffuse>
+         <specular>0.4 0.4 0.4 1</specular>
+         </material>
+         </visual>
+         </link>
+    -->
+      <!-- Pose publisher plugin, used to determine the target pose to reach -->
+    <!-- <plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
+         <publish_nested_model_pose>true</publish_nested_model_pose>
+         <publish_link_pose>false</publish_link_pose>
+         <publish_collision_pose>false</publish_collision_pose>
+         <publish_visual_pose>false</publish_visual_pose>
+         </plugin>
+         </model> -->
+    <!-- <plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
+         <publish_link_pose>true</publish_link_pose>
+         <publish_collision_pose>false</publish_collision_pose>
+         <publish_visual_pose>false</publish_visual_pose>
+         <publish_nested_model_pose>false</publish_nested_model_pose>
+         </plugin> -->
+
+  </world>
+</sdf>

src/drawing_controller/drawing_controller/drawing_controller.py

@@ -17,8 +17,6 @@ from robot_interfaces.msg import Motion
 import sys
 from copy import deepcopy
 
-import time
-
 from drawing_controller.svg_processor import SVGProcessor
 
 def quaternion_from_euler(ai, aj, ak):
@@ -63,17 +61,13 @@ class DrawingController(Node):
     def __init__(self, svgpath):
         super().__init__('drawing_controller')
         #self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
-        timer_period = 0.1  # seconds
+        timer_period = 1.0  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
         self.i = 0
         self.busy = False
 
         self._action_client = ActionClient(self, ExecuteMotion, 'execute_motion')
 
-        self.results = {}
-
-        self.svg_start_time = time.time()
-
         xml = ET.parse(svgpath)
         svg = xml.getroot()
         #self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.1, 0.5, -0.2, 0.2)
@@ -91,11 +85,7 @@ class DrawingController(Node):
 
         self.svg_processor = SVGProcessor(self.get_logger())
         self.svg = self.svg_processor.process_svg(svgpath)
-        self.results['svg path'] = svgpath
+        self.get_logger().info('Ready to begin executing motions')
-
-        self.results['svg processing time'] = self.timestr(time.time() - self.svg_start_time)
-        self.start_time = time.time()
-        self.get_logger().info('SVG processing finished, executing motions')
 
     def send_goal(self, motion):
         self.busy = True
@@ -111,23 +101,22 @@ class DrawingController(Node):
     def goal_response_callback(self, future):
         goal_handle = future.result()
         if not goal_handle.accepted:
-            self.get_logger().debug('Goal rejected :(')
+            self.get_logger().info('Goal rejected :(')
             return
 
-        self.get_logger().debug('Goal accepted :)')
+        self.get_logger().info('Goal accepted :)')
 
         self._get_result_future = goal_handle.get_result_async()
         self._get_result_future.add_done_callback(self.get_result_callback)
 
     def get_result_callback(self, future):
         result = future.result().result
-        self.results.update({ result.result: self.results.get(result.result, 0) + 1 })
+        self.get_logger().info('Result: {0}'.format(result))
-        self.get_logger().info('Result: {0}'.format(result.result))
         self.busy = False
 
     def feedback_callback(self, feedback_msg):
         feedback = feedback_msg.feedback
-        self.get_logger().debug('Received feedback: {0}'.format(feedback))
+        self.get_logger().info('Received feedback: {0}'.format(feedback))
 
     def append_points(self, motion, points):
         for point in points:
@@ -146,23 +135,17 @@ class DrawingController(Node):
             ps.pose = p
             motion.path.append(ps)
 
-    def timestr(self, t):
-        return time.strftime("%H:%M:%S", time.gmtime(t))
-
     def timer_callback(self):
         if self.busy:
             return
         if self.i >= len(self.svg):
-            self.results['total time'] = self.timestr(time.time() - self.svg_start_time)
-            self.results['drawing time'] = self.timestr(time.time() - self.start_time)
             self.get_logger().info('Finished executing all motions from SVG')
-            self.get_logger().info('Results: {}'.format(self.results))
             exit()
         next_motion = self.svg[self.i]
         motion = Motion()
         self.append_points(motion, next_motion)
         self.i = self.i + 1
-        self.get_logger().info('Executing motion: {}/{}'.format(self.i, len(self.svg)))
+        self.get_logger().info('Executing motion: {}...'.format(motion.path[:10]))
         self.send_goal(motion)
 
 

src/drawing_controller/drawing_controller/svg_path_parser.py

@@ -11,7 +11,7 @@ class SVGPathParser():
         self.map_point = map_point
 
     def tokenize(self, pathstr):
-        self.logger.debug("Tokenizing path :'{}...' with {} characters".format(pathstr[:40], len(pathstr)))
+        self.logger.info("Tokenizing path :'{}...' with {} characters".format(pathstr[:40], len(pathstr)))
         path = []
         i = 0
         while i < len(pathstr):
@@ -53,7 +53,7 @@ class SVGPathParser():
             Returns:
                     primitive_fn ():
         '''
-        self.logger.debug("Parsing path :'{}...' with {} tokens".format(path[:20], len(path)))
+        self.logger.info("Parsing path :'{}...' with {} tokens".format(path[:20], len(path)))
         x = 0.0
         y = 0.0
         i = 0
@@ -114,13 +114,13 @@ class SVGPathParser():
             #print('inpput', control_points)
             maxval = np.amax(np.absolute(control_points))
             #print('maxxv', maxval)
-            #control_points = control_points / maxval #normalize values
+            control_points = control_points / maxval #normalize values
-            n = 100
+            n = 50
-            curve = cf.bezier(control_points)
+            curve = cf.cubic_curve(control_points)
             lin = np.linspace(curve.start(0), curve.end(0), n)
             coordinates = curve(lin)
             coordinates = np.nan_to_num(coordinates)
-            #coordinates = coordinates * maxval #denormalize values
+            coordinates = coordinates * maxval #denormalize values
             coordinates = dropzeros(coordinates)
             #self.logger.info("Appending curve points: {}".format(coordinates))
             #print(coordinates)
@@ -136,20 +136,6 @@ class SVGPathParser():
                 x = coordinates[-1][0]
                 y = coordinates[-1][1]
             return coordinates
-        def quadratic_bezier(control_points):
-            nonlocal x
-            nonlocal y
-            control_points = np.array(control_points)
-            n = 100
-            curve = cf.bezier(control_points, quadratic=True)
-            lin = np.linspace(curve.start(0), curve.end(0), n)
-            coordinates = curve(lin)
-            coordinates = np.nan_to_num(coordinates)
-            coordinates = dropzeros(coordinates)
-            if len(coordinates) > 0:
-                x = coordinates[-1][0]
-                y = coordinates[-1][1]
-            return coordinates
 
         while i < len(path):
             w = path[i]
@@ -222,6 +208,7 @@ class SVGPathParser():
             # Cubic Bézier Curve commands
             if (w == "C"):
                 while True:
+                    # https://github.com/sintef/Splipy/tree/master/examples
                     control_points = [(x,y),
                                       (getnum(),getnum()),
                                       (getnum(),getnum()),
@@ -234,6 +221,7 @@ class SVGPathParser():
                 continue
             if (w == "c"):
                 while True:
+                    # https://github.com/sintef/Splipy/tree/master/examples
                     control_points = [(x,y),
                                       (x + getnum(), y + getnum()),
                                       (x + getnum(), y + getnum()),
@@ -250,27 +238,9 @@ class SVGPathParser():
                 self.logger.error("SVG path parser '{}' not implemented".format(w))
             # Quadratic Bézier Curve commands
             if (w == "Q"):
-                while True:
+                self.logger.error("SVG path parser '{}' not implemented".format(w))
-                    control_points = [(x,y),
-                                      (getnum(),getnum()),
-                                      (getnum(),getnum())]
-                    coordinates = quadratic_bezier(control_points)
-                    appendpoints(coordinates)
-                    if not nextisnum():
-                        break
-                i += 1
-                continue
             if (w == "q"):
-                while True:
+                self.logger.error("SVG path parser '{}' not implemented".format(w))
-                    control_points = [(x,y),
-                                      (x + getnum(), y + getnum()),
-                                      (x + getnum(), y + getnum())]
-                    coordinates = quadratic_bezier(control_points)
-                    appendpoints(coordinates)
-                    if not nextisnum():
-                        break
-                i += 1
-                continue
             if (w == "T"):
                 self.logger.error("SVG path parser '{}' not implemented".format(w))
             if (w == "t"):
@@ -289,5 +259,5 @@ class SVGPathParser():
             self.logger.error("SVG path parser panic mode at '{}'".format(w))
 
             i += 1
-        self.logger.debug("Finished parsing path :'{}...' with {} points".format(output[:3], len(output)))
+        self.logger.info("Finished parsing path :'{}...' with {} points".format(output[:3], len(output)))
         return output

src/drawing_controller/drawing_controller/svg_processor.py

@@ -174,7 +174,7 @@ class SVGProcessor():
     def remove_redundant(self, motion):
         # Remove points that are too close to the previous point, specified by the tolerance
         mm = []
-        tolerance = 0.0001
+        tolerance = 0.001
         prev = (-1, -1, 0)
         for i, p in enumerate(motion):
             x = p[0]
@@ -197,7 +197,8 @@ class SVGProcessor():
         Simplify line with https://pypi.org/project/simplification/
         """
         # For RDP, Try an epsilon of 1.0 to start with. Other sensible values include 0.01, 0.001
-        epsilon =  0.00005
+        #epsilon = 0.009
+        epsilon = 0.005
 
         tmp = []
         out = []
@@ -214,7 +215,6 @@ class SVGProcessor():
                 tmp.append(list(p)[:-1])
             lastup = penup
 
-        # Handle anything left in tmp
         if (len(tmp) > 0):
             out += sf(tmp)
 

src/lite6_controller/CMakeLists.txt

@@ -16,8 +16,6 @@ find_package(moveit REQUIRED)
 find_package(pilz_industrial_motion_planner REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(xarm_api REQUIRED)
-find_package(xarm_msgs REQUIRED)
 
 find_package(tf2_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
@@ -47,19 +45,6 @@ ament_target_dependencies(lite6_controller
   "moveit_ros_planning_interface"
   "robot_interfaces")
 
-add_executable(lite6_calibration src/lite6_calibration.cpp)
-ament_target_dependencies(lite6_calibration
-  "xarm_msgs"
-  "xarm_api"
-  "rclcpp"
-  "moveit"
-  "rclcpp_action"
-  "Eigen3"
-  "pilz_industrial_motion_planner"
-  "robot_controller"
-  "moveit_ros_planning_interface"
-  "robot_interfaces")
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
@@ -67,14 +52,8 @@ endif()
 
 install(TARGETS
   lite6_controller
-  lite6_calibration
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
-install(DIRECTORY
-  config
-  DESTINATION share/${PROJECT_NAME}
-)
-
 ament_package()

src/lite6_controller/config/config.yaml

@@ -1,13 +0,0 @@
-/robot_controller:
-  ros__parameters:
-    lite6_x_limit_lower: 0.1
-    lite6_x_limit_upper: 0.305
-    lite6_y_limit_lower: -0.1475
-    lite6_y_limit_upper: 0.1475
-
-    lite6_z_lift_amount: 0.01
-    lite6_z_offset: 0.1475
-
-    lite6_blend_radius: 0.0
-    lite6_max_velocity_scaling_factor: 1.0
-    lite6_max_acceleration_scaling_factor: 0.9

src/lite6_controller/launch/lite6_gazebo.launch.py

@@ -2,7 +2,6 @@
 """Launch Python example for following a target"""
 
 import os
-import yaml
 from ament_index_python import get_package_share_directory
 from launch.launch_description_sources import load_python_launch_file_as_module
 from launch import LaunchDescription
@@ -18,8 +17,7 @@ from launch.actions import OpaqueFunction
 def launch_setup(context, *args, **kwargs):
     use_sim_time = LaunchConfiguration("use_sim_time", default=True)
     log_level = LaunchConfiguration("log_level", default='info')
-    rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("custom_xarm_description"), "rviz", "display.rviz"))
+    rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
-
 
     prefix = LaunchConfiguration('prefix', default='')
     hw_ns = LaunchConfiguration('hw_ns', default='xarm')
@@ -56,8 +54,6 @@ def launch_setup(context, *args, **kwargs):
     moveit_controller_manager_key = LaunchConfiguration('moveit_controller_manager_key', default='moveit_simple_controller_manager')
     moveit_controller_manager_value = LaunchConfiguration('moveit_controller_manager_value', default='moveit_simple_controller_manager/MoveItSimpleControllerManager')
 
-    config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('lite6_controller'), 'config', 'config.yaml']))
-
     # robot moveit common launch
     # xarm_moveit_config/launch/_robot_moveit_common.launch.py
     robot_moveit_common_launch = IncludeLaunchDescription(
@@ -115,71 +111,108 @@ def launch_setup(context, *args, **kwargs):
         }.items(),
     )
 
+    # URDF
+    _robot_description_xml = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']
+            ),
+            #PathJoinSubstitution(
+            #    [
+            #        FindPackageShare('xarm_description'),
+            #        "urdf",
+            #        "lite6",
+            #        #"lite6.urdf.xacro",
+            #        "lite6_robot_macro.xacro",
+            #    ]
+            #),
+            " ",
+            #"name:=", "lite6", " ",
+            "prefix:=", " ",
+            "hw_ns:=", hw_ns, " ",
+            "limited:=", limited, " ",
+            "effort_control:=", effort_control, " ",
+            "velocity_control:=", velocity_control, " ",
+            "add_gripper:=", add_gripper, " ",
+            "add_vacuum_gripper:=", add_vacuum_gripper, " ",
+            "dof:=", dof, " ",
+            "robot_type:=", robot_type, " ",
+            "ros2_control_plugin:=", ros2_control_plugin, " ",
+            #"ros2_control_params:=", ros2_control_params, " ",
 
-    mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('custom_xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
+            "add_other_geometry:=", add_other_geometry, " ",
-    #mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('draw_svg'), 'launch', 'robots', 'xarm_with_pen.py'))
+            "geometry_type:=", geometry_type, " ",
-    get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
+            "geometry_mass:=", geometry_mass, " ",
-    robot_description = {
+            "geometry_height:=", geometry_height, " ",
-        'robot_description': get_xacro_file_content(
+            "geometry_radius:=", geometry_radius, " ",
-            xacro_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+            "geometry_length:=", geometry_length, " ",
-            #xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
+            "geometry_width:=", geometry_width, " ",
-            arguments={
+            "geometry_mesh_filename:=", geometry_mesh_filename, " ",
-                'prefix': prefix,
+            "geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
-                'dof': dof,
+            "geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
-                'robot_type': robot_type,
+            "geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
-                'add_gripper': add_gripper,
+            "geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
-                'add_vacuum_gripper': add_vacuum_gripper,
+
-                'hw_ns': hw_ns.perform(context).strip('/'),
+            #"robot_ip:=", robot_ip, " ",
-                'limited': limited,
+            #"report_type:=", report_type, " ",
-                'effort_control': effort_control,
+            #"baud_checkset:=", baud_checkset, " ",
-                'velocity_control': velocity_control,
+            #"default_gripper_baud:=", default_gripper_baud, " ",
-                'ros2_control_plugin': ros2_control_plugin,
+        ]
-                #'ros2_control_params': ros2_control_params,
+    )
-                'add_other_geometry': add_other_geometry,
+    # TODO fix URDF loading
-                'geometry_type': geometry_type,
+    # xacro urdf/xarm_pen.urdf.xacro prefix:= hw_ns:=xarm dof:=6 limited:=false effort_control:=false velocity_control:=false add_gripper:=false add_vacuum_gripper:=false robot_type:=lite ros2_control_plugin:=gazebo_ros2_control/GazeboSystem add_other_geometry:=false geometry_type:=cylinder geometry_mass:=0.05 geometry_height:=0.1 geometry_radius:=0.005 geometry_length:=0.07 geometry_width:=0.1 geometry_mesh_filename:= geometry_mesh_origin_xyz:="0 0 0" geometry_mesh_origin_rpy:="0 0 0" geometry_mesh_tcp_xyz:="0 0 0" geometry_mesh_tcp_rpy:="0 0 0"
-                'geometry_mass': geometry_mass,
+    _robot_description_xml = Command(['cat ', PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'lite6.tmp.urdf'])])
-                'geometry_height': geometry_height,
+    robot_description = {"robot_description": _robot_description_xml}
-                'geometry_radius': geometry_radius,
+    # SRDF
-                'geometry_length': geometry_length,
+    _robot_description_semantic_xml = Command(
-                'geometry_width': geometry_width,
+        [
-                'geometry_mesh_filename': geometry_mesh_filename,
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
-                'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
+            " ",
-                'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
+            PathJoinSubstitution(
-                'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
+                [
-                'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
+                    FindPackageShare('custom_xarm_moveit_config'),
-            }
+                    "srdf",
-        ),
+                    #"_lite6_macro.srdf.xacro",
-    }
+                    "xarm.srdf.xacro",
+                ]
+            ),
+            " ",
+            #"name:=", "lite6", " ",
+            "prefix:=", " ",
+            #"hw_ns:=", hw_ns, " ",
+            #"limited:=", limited, " ",
+            #"effort_control:=", effort_control, " ",
+            #"velocity_control:=", velocity_control, " ",
+            #"add_gripper:=", add_gripper, " ",
+            #"add_vacuum_gripper:=", add_vacuum_gripper, " ",
+            "dof:=", dof, " ",
+            "robot_type:=", robot_type, " ",
+            #"ros2_control_plugin:=", ros2_control_plugin, " ",
+            #"ros2_control_params:=", ros2_control_params, " ",
+
+            #"add_other_geometry:=", add_other_geometry, " ",
+            #"geometry_type:=", geometry_type, " ",
+            #"geometry_mass:=", geometry_mass, " ",
+            #"geometry_height:=", geometry_height, " ",
+            #"geometry_radius:=", geometry_radius, " ",
+            #"geometry_length:=", geometry_length, " ",
+            #"geometry_width:=", geometry_width, " ",
+            #"geometry_mesh_filename:=", geometry_mesh_filename, " ",
+            #"geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
+            #"geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
+            #"geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
+            #"geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
+
+            #"robot_ip:=", robot_ip, " ",
+            #"report_type:=", report_type, " ",
+            #"baud_checkset:=", baud_checkset, " ",
+            #"default_gripper_baud:=", default_gripper_baud, " ",
+        ]
+    )
     robot_description_semantic = {
-        'robot_description_semantic': get_xacro_file_content(
+        "robot_description_semantic": _robot_description_semantic_xml
-            xacro_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
-            #xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
-            arguments={
-                'prefix': prefix,
-                'dof': dof,
-                'robot_type': robot_type,
-                'add_gripper': add_gripper,
-                'add_vacuum_gripper': add_vacuum_gripper,
-                'hw_ns': hw_ns.perform(context).strip('/'),
-                'limited': limited,
-                'effort_control': effort_control,
-                'velocity_control': velocity_control,
-                'ros2_control_plugin': ros2_control_plugin,
-                #'ros2_control_params': ros2_control_params,
-                'add_other_geometry': add_other_geometry,
-                'geometry_type': geometry_type,
-                'geometry_mass': geometry_mass,
-                'geometry_height': geometry_height,
-                'geometry_radius': geometry_radius,
-                'geometry_length': geometry_length,
-                'geometry_width': geometry_width,
-                'geometry_mesh_filename': geometry_mesh_filename,
-                'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
-                'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
-                'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
-                'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
-            }
-        ),
     }
 
 
@@ -267,20 +300,10 @@ def launch_setup(context, *args, **kwargs):
     kinematics_yaml = robot_description_parameters['robot_description_kinematics']
     joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
 
-    robotcontroller_config = config.perform(context)
-    with open(robotcontroller_config, 'r') as f:
-        lite6_config = yaml.safe_load(f)
-        print(f'Loaded configuration: {lite6_config}')
-    robot_description_parameters.update(lite6_config['/robot_controller']['ros__parameters'])
-
-    #cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
-    #robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
-    #input(joint_limits_yaml)
-
     # FIX acceleration limits
-    #for i in range(1,7):
+    for i in range(1,7):
-    #    joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-    #    joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
 
     kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
     #kinematics_yaml['kinematics_solver'] = 'lma_kinematics_plugin/LMAKinematicsPlugin'
@@ -314,8 +337,12 @@ def launch_setup(context, *args, **kwargs):
         prefix=prefix.perform(context))
 
 
-    #cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
+    robot_description_parameters['cartesian_limits'] = {}
-    #robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
+    robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1
+    robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
+    robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
+    robot_description_parameters['cartesian_limits']['max_rot_vel'] =  1.57
+
 
     # Planning pipeline
     # https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py
@@ -392,8 +419,15 @@ def launch_setup(context, *args, **kwargs):
         'publish_geometry_updates': True,
         'publish_state_updates': True,
         'publish_transforms_updates': True,
-        'publish_robot_description': True,
+        # "planning_scene_monitor_options": {
-        'publish_robot_description_semantic' :True,
+        #     "name": "planning_scene_monitor",
+        #     "robot_description": "robot_description",
+        #     "joint_state_topic": "/joint_states",
+        #     "attached_collision_object_topic": "/move_group/planning_scene_monitor",
+        #     "publish_planning_scene_topic": "/move_group/publish_planning_scene",
+        #     "monitored_planning_scene_topic": "/move_group/monitored_planning_scene",
+        #     "wait_for_initial_state_timeout": 10.0,
+        # },
     }
 
     # Start the actual move_group node/action server

src/lite6_controller/launch/lite6_real.launch.py

@@ -1,5 +1,4 @@
 import os
-import yaml
 from launch import LaunchDescription
 from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -16,7 +15,6 @@ from launch.events import Shutdown
 
 
 def launch_setup(context, *args, **kwargs):
-
     robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
     report_type = LaunchConfiguration('report_type', default='normal')
     prefix = LaunchConfiguration('prefix', default='')
@@ -57,8 +55,6 @@ def launch_setup(context, *args, **kwargs):
     use_sim_time = LaunchConfiguration('use_sim_time', default=False)
     log_level = LaunchConfiguration("log_level", default='warn')
 
-    config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('lite6_controller'), 'config', 'config.yaml']))
-
     # # robot driver launch
     # # xarm_api/launch/_robot_driver.launch.py
     # robot_driver_launch = IncludeLaunchDescription(
@@ -79,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
     # robot description launch
     # xarm_description/launch/_robot_description.launch.py
     robot_description_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'launch', '_robot_description.launch.py'])),
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])),
         launch_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns,
@@ -109,12 +105,12 @@ def launch_setup(context, *args, **kwargs):
 
     # robot_description_parameters
     # xarm_moveit_config/launch/lib/robot_moveit_config_lib.py
-    moveit_config_package_name = 'custom_xarm_moveit_config'
+    moveit_config_package_name = 'xarm_moveit_config'
     mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory(moveit_config_package_name), 'launch', 'lib', 'robot_moveit_config_lib.py'))
     get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
     robot_description_parameters = get_xarm_robot_description_parameters(
-        xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+        xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
-        xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
+        xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
         urdf_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns.perform(context).strip('/'),
@@ -158,22 +154,21 @@ def launch_setup(context, *args, **kwargs):
     ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
     kinematics_yaml = robot_description_parameters['robot_description_kinematics']
 
-    kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
+    robot_description_parameters['cartesian_limits'] = {}
-    kinematics_yaml['kinematics_solver_search_resolution'] = 0.005
+    robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1
-    kinematics_yaml['kinematics_solver_timeout'] = 0.005
+    robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
-    kinematics_yaml['kinematics_solver_attempts'] = 3
+    robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
-    kinematics_yaml['kinematics_solver_timeout'] = 10.0
+    robot_description_parameters['cartesian_limits']['max_rot_vel'] =  1.57
 
+    #kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
+    #kinematics_yaml['kinematics_solver_search_resolution'] = 0.005
+    #kinematics_yaml['kinematics_solver_timeout'] = 0.005
+    #kinematics_yaml['kinematics_solver_attempts'] = 3
+    kinematics_yaml['kinematics_solver_timeout'] = 10.0
     kinematics_yaml['kinematics_solver_attempts'] = 10
 
     joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
 
-    robotcontroller_config = config.perform(context)
-    with open(robotcontroller_config, 'r') as f:
-        lite6_config = yaml.safe_load(f)
-        print(f'Loaded configuration: {lite6_config}')
-    robot_description_parameters.update(lite6_config['/robot_controller']['ros__parameters'])
-
     if add_gripper.perform(context) in ('True', 'true'):
         gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
         gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')
@@ -191,11 +186,11 @@ def launch_setup(context, *args, **kwargs):
             joint_limits_yaml['joint_limits'].update(gripper_joint_limits_yaml['joint_limits'])
 
     # FIX acceleration limits
-    #for i in range(1,7):
+    for i in range(1,7):
-    #    joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-    #    #joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.5
+        #joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.5
-    #    #joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 2.5
+        #joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 2.5
-    #    joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 3.0
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 3.0
 
     add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
     add_prefix_to_moveit_params(
@@ -237,8 +232,15 @@ def launch_setup(context, *args, **kwargs):
         'publish_geometry_updates': True,
         'publish_state_updates': True,
         'publish_transforms_updates': True,
-        'publish_robot_description': True,
+        # "planning_scene_monitor_options": {
-        'publish_robot_description_semantic' :True,
+        #     "name": "planning_scene_monitor",
+        #     "robot_description": "robot_description",
+        #     "joint_state_topic": "/joint_states",
+        #     "attached_collision_object_topic": "/move_group/planning_scene_monitor",
+        #     "publish_planning_scene_topic": "/move_group/publish_planning_scene",
+        #     "monitored_planning_scene_topic": "/move_group/monitored_planning_scene",
+        #     "wait_for_initial_state_timeout": 10.0,
+        # },
     }
 
 
@@ -247,8 +249,7 @@ def launch_setup(context, *args, **kwargs):
             'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
             #'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
             'request_adapters': """default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
-            #"default_planner_config": "PTP",
+            "default_planner_config": "PTP",
-            "default_planner_config": "LIN",
         }
     }
 
@@ -263,7 +264,6 @@ def launch_setup(context, *args, **kwargs):
         output='screen',
         parameters=[
             robot_description_parameters,
-            #cartesian_limits,
             #ompl_planning_pipeline_config,
             pilz_planning_pipeline_config,
             move_group_capabilities,

src/lite6_controller/launch/lite6_real_no_gui.launch.py

@@ -1,5 +1,4 @@
 import os
-import yaml
 from launch import LaunchDescription
 from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -16,7 +15,6 @@ from launch.events import Shutdown
 
 
 def launch_setup(context, *args, **kwargs):
-
     robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
     report_type = LaunchConfiguration('report_type', default='normal')
     prefix = LaunchConfiguration('prefix', default='')
@@ -57,8 +55,6 @@ def launch_setup(context, *args, **kwargs):
     use_sim_time = LaunchConfiguration('use_sim_time', default=False)
     log_level = LaunchConfiguration("log_level", default='warn')
 
-    config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('lite6_controller'), 'config', 'config.yaml']))
-
     # # robot driver launch
     # # xarm_api/launch/_robot_driver.launch.py
     # robot_driver_launch = IncludeLaunchDescription(
@@ -79,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
     # robot description launch
     # xarm_description/launch/_robot_description.launch.py
     robot_description_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'launch', '_robot_description.launch.py'])),
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])),
         launch_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns,
@@ -109,12 +105,12 @@ def launch_setup(context, *args, **kwargs):
 
     # robot_description_parameters
     # xarm_moveit_config/launch/lib/robot_moveit_config_lib.py
-    moveit_config_package_name = 'custom_xarm_moveit_config'
+    moveit_config_package_name = 'xarm_moveit_config'
     mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory(moveit_config_package_name), 'launch', 'lib', 'robot_moveit_config_lib.py'))
     get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
     robot_description_parameters = get_xarm_robot_description_parameters(
-        xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+        xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
-        xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
+        xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
         urdf_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns.perform(context).strip('/'),
@@ -159,16 +155,10 @@ def launch_setup(context, *args, **kwargs):
     kinematics_yaml = robot_description_parameters['robot_description_kinematics']
     joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
 
-    robotcontroller_config = config.perform(context)
-    with open(robotcontroller_config, 'r') as f:
-        lite6_config = yaml.safe_load(f)
-        print(f'Loaded configuration: {lite6_config}')
-    robot_description_parameters.update(lite6_config['/robot_controller']['ros__parameters'])
-
     # FIX acceleration limits
-    #for i in range(1,7):
+    for i in range(1,7):
-    #    joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-    #    joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
 
     if add_gripper.perform(context) in ('True', 'true'):
         gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
@@ -192,8 +182,11 @@ def launch_setup(context, *args, **kwargs):
         kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
         prefix=prefix.perform(context))
 
-    #cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
+    robot_description_parameters['cartesian_limits'] = {}
-    #robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
+    robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1
+    robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
+    robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
+    robot_description_parameters['cartesian_limits']['max_rot_vel'] =  1.57
 
     # Planning Configuration
     ompl_planning_pipeline_config = {
@@ -243,8 +236,15 @@ def launch_setup(context, *args, **kwargs):
         'publish_geometry_updates': True,
         'publish_state_updates': True,
         'publish_transforms_updates': True,
-        'publish_robot_description': True,
+        # "planning_scene_monitor_options": {
-        'publish_robot_description_semantic' :True,
+        #     "name": "planning_scene_monitor",
+        #     "robot_description": "robot_description",
+        #     "joint_state_topic": "/joint_states",
+        #     "attached_collision_object_topic": "/move_group/planning_scene_monitor",
+        #     "publish_planning_scene_topic": "/move_group/publish_planning_scene",
+        #     "monitored_planning_scene_topic": "/move_group/monitored_planning_scene",
+        #     "wait_for_initial_state_timeout": 10.0,
+        # },
     }
 
     # Start the actual move_group node/action server

src/lite6_controller/package.xml

@@ -15,8 +15,6 @@
   <!-- <depend>robot_controller</depend> -->
   <depend>moveit</depend>
   <depend>moveit_msgs</depend>
-  <depend>xarm_msgs</depend>
-  <depend>xarm_api</depend>
   <depend>geometry_msgs</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>tf2_ros</depend>

src/lite6_controller/src/lite6_calibration.cpp

@@ -1,131 +0,0 @@
-#include <signal.h>
-#include <chrono>
-#include <rclcpp/rclcpp.hpp>
-#include <xarm_api/xarm_ros_client.h>
-#include <iostream>
-#include <string>
-
-// MoveIt
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/robot_state/robot_state.h>
-
-
-const std::string MOVE_GROUP = "lite6";
-
-std::shared_ptr<rclcpp::Node> node;
-
-void exit_sig_handler(int signum)
-{
-    fprintf(stderr, "[lite6_calibration] Ctrl-C caught, exit process...\n");
-    exit(-1);
-}
-
-void wait()
-{
- do
- {
-   std::cout << "Press a key to continue...";
- } while (std::cin.get() != '\n');
-}
-
-void println(std::string s)
-{
-  std::cout << s << std::endl;
-}
-
-void print_joints(std::vector<float> jnts)
-{
-    std::string out = "";
-    out = out + "{ ";
-    for (auto i : jnts)
-      out = out + std::to_string(i) + ", ";
-    out = out.substr(0, out.size()-2); //remove trailing comma
-    out = out + " }";
-    std::cout << out << std::endl;
-}
-
-int main(int argc, char **argv)
-{
-    rclcpp::init(argc, argv);
-    std::string hw_ns = "ufactory";
-    node = rclcpp::Node::make_shared("lite6_calibration");
-    int ret;
-
-    signal(SIGINT, exit_sig_handler);
-
-    xarm_api::XArmROSClient client;
-    client.init(node, hw_ns);
-    client.motion_enable(true);
-
-    println("Setting xArm lite6 to free-drive mode. Attach pen and touch the drawing surface. (You can also skip this if you do not want to measure Z)");
-    client.set_mode(2);
-    client.set_state(0);
-    //rclcpp::sleep_for(std::chrono::seconds(20));
-    wait();
-    //client.set_mode(0);
-    //client.set_state(0);
-    //rclcpp::sleep_for(std::chrono::seconds(2));
-
-    client.set_mode(0);
-    client.set_state(0);
-    rclcpp::sleep_for(std::chrono::seconds(2));
-
-    //std::vector<float> jnt_drawing_pose = { -0.975004, 0.0734182, 0.443928, 3.14102, -0.370552, -0.85577, 0 };
-    std::vector<float> jnt_drawing_pose = { -0.975008, 0.00889134, 0.453255, 3.1414, -0.444295, -0.85692, 0 } ;
-
-    std::vector<float> jnt_pose = { 0, 0, 0, 0, 0, 0, 0 };
-    client.get_servo_angle(jnt_pose);
-
-    print_joints(jnt_pose);
-
-
-
-    //client.set_servo_angle_j(jnt_drawing_pose, 1, 1, 100);
-    //rclcpp::sleep_for(std::chrono::seconds(5));
-
-
-    // Compute position of pen from joint state
-    robot_model_loader::RobotModelLoader robot_model_loader(node);
-    const moveit::core::RobotModelPtr& kinematic_model = robot_model_loader.getModel();
-    moveit::core::RobotStatePtr kinematic_state(new moveit::core::RobotState(kinematic_model));
-    const moveit::core::JointModelGroup* joint_model_group = kinematic_model->getJointModelGroup(MOVE_GROUP);
-    std::string ee_link = "pen_link";
-
-    std::vector<double> jnts;
-    for (auto j : jnt_pose)
-        jnts.push_back(j);
-
-    jnts.resize(joint_model_group->getVariableNames().size());
-    kinematic_state->setJointGroupPositions(joint_model_group, jnts);
-
-    // from tutorial https://ros-planning.github.io/moveit_tutorials/doc/robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html
-    // https://github.com/ros-planning/moveit_tutorials/blob/master/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp
-    //robot_model_loader::RobotModelLoader robot_model_loader(node, "robot_description");
-
-    kinematic_state->setJointGroupPositions(joint_model_group, jnts);
-    // https://mycourses.aalto.fi/pluginfile.php/1433193/mod_resource/content/2/Intro_to_ROS_Eigen.pdf
-    const Eigen::Isometry3d& end_effector_state = kinematic_state->getGlobalLinkTransform(ee_link);
-
-    auto x = std::to_string(end_effector_state.translation().x());
-    auto y = std::to_string(end_effector_state.translation().y());
-    auto z = std::to_string(end_effector_state.translation().z());
-    //println("x for '" + ee_link + "': " + x);
-    //println("y for '" + ee_link + "': " + y);
-    println("z-offset value for '" + ee_link + "' (use this value for the current pen): " + z);
-
-
-    println("WARNING. Moving to start drawing pose. Press ctrl-c to cancel");
-    wait();
-    client.set_servo_angle(jnt_drawing_pose, 1, 1, 1, true, 100, -1);
-
-
-    client.set_mode(0);
-    client.set_state(0);
-
-    rclcpp::shutdown();
-
-    println("Done, ignore any errors after this. Restart lite6_controller after I exit.");
-    wait();
-    return 0;
-}

src/lite6_controller/src/lite6_controller.cpp

@@ -3,7 +3,7 @@
 #include <robot_controller/robot_controller.hpp>
 #include <chrono>
 #include <cstdlib>
-#include <queue>
+//#include <queue>
 
 #include <fstream>
 #include <iostream>
@@ -28,7 +28,6 @@
 
 
 #include <moveit_msgs/msg/constraints.hpp>
-#include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
 #include <moveit_msgs/msg/motion_sequence_request.hpp>
 #include <moveit_msgs/msg/motion_sequence_item.hpp>
@@ -47,6 +46,15 @@ const std::string MOVE_GROUP = "lite6";
 
 using namespace std::chrono_literals;
 
+// MOTION PLANNING API
+// https://github.com/ros-planning/moveit2_tutorials/blob/humble/doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp
+// https://moveit.picknik.ai/humble/doc/examples/motion_planning_api/motion_planning_api_tutorial.html
+// https://github.com/ros-planning/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_service.cpp
+//
+//
+// USE
+// https://industrial-training-master.readthedocs.io/en/foxy/_source/session4/ros2/0-Motion-Planning-CPP.html
+
 /**
  * Controller for xArm Lite6, implementing RobotController
  */
@@ -57,11 +65,6 @@ public:
    * Move group interface for the robot
    */
   moveit::planning_interface::MoveGroupInterface move_group;
-  moveit::core::RobotStatePtr move_group_state;
-
-  std::queue<moveit_msgs::msg::RobotTrajectory> trajectory_queue;
-  rclcpp::TimerBase::SharedPtr trajectory_timer_;
-  bool busy = false;
 
   /**
    * TODO Use instead of MoveGroupInterface
@@ -80,9 +83,20 @@ public:
   float xlim_upper = 0.305;
   float ylim_lower = -0.1475;
   float ylim_upper = 0.1475;
-  float zlim_lower = 0.141087;
+  float zlim_lower = 0.210;
-  float zlim_upper = zlim_lower + 0.01;
+  float zlim_upper = 0.218;
 
+  //bool moved = false;
+  //
+  // TODO get pilz working
+  //std::unique_ptr<pilz_industrial_motion_planner::CommandListManager> command_list_manager_;
+  // command_list_manager_ = std::make_unique<pilz_industrial_motion_planner::CommandListManager>(this->move_group.getNodeHandle(), this->move_group.getRobotModel());
+
+  /**
+   * CommandListManager, used to plan MotionSequenceRequest
+   */
+  //pilz_industrial_motion_planner::CommandListManager command_list_manager;
+  //pilz_industrial_motion_planner::CommandListManager command_list_manager(*std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel());
 
   /**
    * Constructor
@@ -90,41 +104,37 @@ public:
   Lite6Controller(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
     : RobotController(options),
       move_group(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP)
+      //moveit_cpp_(std::shared_ptr<rclcpp::Node>(std::move(this))),
+      //planning_component_(MOVE_GROUP, moveit_cpp_),
+      //command_list_manager(std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel())
   {
-    // Declare parameters
-    this->declare_parameter("lite6_x_limit_lower", 0.1);
-    this->declare_parameter("lite6_x_limit_upper", 0.305);
-    this->declare_parameter("lite6_y_limit_lower", -0.1475);
-    this->declare_parameter("lite6_y_limit_upper", 0.1475);
-    this->declare_parameter("lite6_z_offset", 0.141087);
-    this->declare_parameter("lite6_z_lift_amount", 0.01);
-    this->declare_parameter("lite6_max_velocity_scaling_factor", 1.0);
-    this->declare_parameter("lite6_max_acceleration_scaling_factor", 0.6);
-    this->declare_parameter("lite6_blend_radius", 0.0);
-
-    xlim_lower = this->get_parameter("lite6_x_limit_lower").as_double();
-    xlim_upper = this->get_parameter("lite6_x_limit_upper").as_double();
-    ylim_lower = this->get_parameter("lite6_y_limit_lower").as_double();
-    ylim_upper = this->get_parameter("lite6_y_limit_upper").as_double();
-    zlim_lower = this->get_parameter("lite6_z_offset").as_double();
-    zlim_upper = zlim_lower + this->get_parameter("lite6_z_lift_amount").as_double();
 
+    //command_list_manager = new pilz_industrial_motion_planner::CommandListManager(this->move_group.getNodeHandle(), this->move_group.getRobotModel());
+    //command_list_manager = new pilz_industrial_motion_planner::CommandListManager(std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel());
+    // Use upper joint velocity and acceleration limits
     this->move_group.setMaxAccelerationScalingFactor(1.0);
-    this->move_group.setMaxVelocityScalingFactor(1.0);
-    //this->move_group.setMaxVelocityScalingFactor(0.8);
 
-    trajectory_timer_ = this->create_wall_timer(
+    //setting this lower seems to improve overall time and prevents robot from moving too fast
-      10ms, std::bind(&Lite6Controller::executeTrajectoryFromQueue, this));
+    //this->move_group.setMaxVelocityScalingFactor(1.0);
+    this->move_group.setMaxVelocityScalingFactor(0.8);
+
+    // Subscribe to target pose
+    //target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));
 
   }
 
   void setup()
   {
+    //moveit_cpp_ = std::make_shared<moveit_cpp::MoveItCpp>(move_group.getNodeHandle());
     try
     {
+      //moveit_cpp_ = std::make_shared<moveit_cpp::MoveItCpp>(this->shared_from_this());
+      //moveit_cpp_ = std::make_shared<moveit_cpp::MoveItCpp>(move_group.getNodeHandle());
+      //planning_component_ = std::make_shared<moveit_cpp::PlanningComponent>(MOVE_GROUP, moveit_cpp_);
+      //
+
       planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(this->shared_from_this(),
                                                                                                "robot_description");
-
       this->sequence_client_ =
         this->create_client<moveit_msgs::srv::GetMotionSequence>("plan_sequence_path");
 
@@ -142,6 +152,7 @@ public:
       return;
     }
 
+
     move_group.setPlanningTime(30.0);
     RCLCPP_INFO(this->get_logger(), "Initialization successful.");
 
@@ -194,12 +205,11 @@ public:
   /**
    *
    */
-  moveit_msgs::msg::MotionSequenceRequest createMotionSequenceRequest(const std::vector<geometry_msgs::msg::PoseStamped> *path, std::string planner_id)
+  moveit_msgs::msg::MotionSequenceRequest createMotionSequenceRequest(const std::vector<geometry_msgs::msg::PoseStamped> *path)
   {
     moveit_msgs::msg::MotionSequenceRequest msr = moveit_msgs::msg::MotionSequenceRequest();
     //waypoints.push_back(move_group.getCurrentPose().pose);
-    //std::string ee_link = move_group.getLinkNames().back();
+    std::string ee_link = move_group.getLinkNames().back();
-    std::string ee_link = "pen_link";
     RCLCPP_INFO(this->get_logger(), "Got ee_link: %s", ee_link.c_str());
     geometry_msgs::msg::Point previous_point;
     //previous_point.point.x = -1.0;
@@ -211,17 +221,13 @@ public:
       moveit_msgs::msg::MotionSequenceItem msi = moveit_msgs::msg::MotionSequenceItem();
 
       planning_interface::MotionPlanRequest mpr = planning_interface::MotionPlanRequest();
-      mpr.planner_id = planner_id;
+      mpr.planner_id = "PTP";
-      //mpr.planner_id = "PTP";
       //mpr.planner_id = "LIN";
       mpr.group_name = move_group.getName();
-      //mpr.max_velocity_scaling_factor = 1.0;
+      mpr.max_velocity_scaling_factor = 1.0;
-      mpr.max_velocity_scaling_factor = this->get_parameter("lite6_max_velocity_scaling_factor").as_double();
+      mpr.max_acceleration_scaling_factor = 0.98;
-      mpr.max_acceleration_scaling_factor = this->get_parameter("lite6_max_acceleration_scaling_factor").as_double();
+      mpr.allowed_planning_time = 10;
-
+      mpr.max_cartesian_speed = 2; // m/s
-      //mpr.max_acceleration_scaling_factor = 0.1;
-      mpr.allowed_planning_time = 20;
-      //mpr.max_cartesian_speed = 2; // m/s
       //mpr.goal_constraints.position_constraints.header.frame_id = "world";
 
       // A tolerance of 0.01 m is specified in position
@@ -250,7 +256,9 @@ public:
       mpr.goal_constraints.push_back(pose_goal);
 
       msi.req = mpr;
-      msi.blend_radius = this->get_parameter("lite6_blend_radius").as_double();
+      //msi.blend_radius = 6e-7; //TODO make configurable
+      //msi.blend_radius = 0.000001; //TODO make configurable
+      msi.blend_radius = 0.0; //TODO make configurable
       if (coincidentPoints(&pose.pose.position, &previous_point, msi.blend_radius + 1e-5))
       {
         RCLCPP_ERROR(this->get_logger(), "Detected coincident points, setting blend radius to 0.0");
@@ -266,23 +274,13 @@ public:
       msr.items.push_back(msi);
     }
     msr.items.back().blend_radius = 0.0; // Last element blend must be 0
-
+    moveit::core::RobotStatePtr move_group_state = move_group.getCurrentState();
     moveit_msgs::msg::RobotState state_msg;
-    if (move_group_state == NULL)
-    {
-      RCLCPP_INFO(this->get_logger(), "Getting robot state");
-      move_group_state = move_group.getCurrentState(10);
-    }
     moveit::core::robotStateToRobotStateMsg(*move_group_state, state_msg);
     msr.items.front().req.start_state = state_msg;
     return msr;
   }
 
-  moveit_msgs::msg::MotionSequenceRequest createMotionSequenceRequest(const std::vector<geometry_msgs::msg::PoseStamped> *path)
-  {
-    return createMotionSequenceRequest(path, "LIN");
-  }
-
   /**
    *
    */
@@ -384,123 +382,6 @@ public:
     }
   }
 
-  void executeTrajectoryFromQueue()
-  {
-    if (trajectory_queue.empty())
-    {
-      if (busy)
-        return;
-
-      busy = true;
-      //RCLCPP_INFO(this->get_logger(), "Getting robot state");
-      //move_group_state = move_group.getCurrentState(10);
-      busy = false;
-      return;
-    }
-    busy = true;
-    RCLCPP_INFO(this->get_logger(), "Executing next trajectory from queue");
-    move_group.execute(trajectory_queue.front());
-    trajectory_queue.pop();
-    busy = false;
-  }
-
-  moveit_msgs::msg::RobotTrajectory sendRequest(moveit_msgs::msg::MotionSequenceRequest msr)
-  {
-    auto req = std::make_shared<moveit_msgs::srv::GetMotionSequence::Request>();
-    req->request = msr;
-    RCLCPP_INFO(this->get_logger(), "Sending request to sequence service");
-    auto res = sequence_client_->async_send_request(req);
-
-    auto ts = res.get()->response.planned_trajectories;
-
-    // Set move_group_state to the last state of planned trajectory (planning of next trajectory starts there)
-
-    if (ts.empty())
-    {
-      moveit_msgs::msg::RobotTrajectory t;
-      return t;
-    }
-
-
-    return ts[0];
-  }
-
-  void setMoveGroupState(moveit_msgs::msg::RobotTrajectory t)
-  {
-
-    if (t.joint_trajectory.points.empty())
-    {
-      RCLCPP_ERROR(this->get_logger(), "TRAJECTORY IS EMPTY");
-      return;
-    }
-
-    robot_trajectory::RobotTrajectory rt(move_group.getRobotModel());
-    rt.setRobotTrajectoryMsg(*move_group_state, t);
-    move_group_state = rt.getLastWayPointPtr();
-  }
-
-  void pathToTrajectory(const std::vector<geometry_msgs::msg::PoseStamped> *path, std::vector<moveit_msgs::msg::RobotTrajectory> *ts)
-  {
-    std::vector<geometry_msgs::msg::PoseStamped> penup = {};
-    std::vector<geometry_msgs::msg::PoseStamped> tail = {};
-    bool up = true;
-    if (!path)
-    {
-      RCLCPP_ERROR(this->get_logger(), "Received null pointer for path");
-      return;
-    }
-    for (auto p : *path)
-    {
-      if (p.pose.position.z > 0)
-        up = false;
-      if (up)
-        //penup->push_back(p);
-        penup.push_back(p);
-      else
-      {
-        up = false;
-        //tail->push_back(p);
-        tail.push_back(p);
-      }
-    }
-
-    if (!penup.empty())
-    {
-      auto msr = createMotionSequenceRequest(&penup, "PTP");
-      RCLCPP_ERROR(this->get_logger(), "Created MSR for penup");
-      if (msr.items.empty())
-      {
-        RCLCPP_ERROR(this->get_logger(), "MSR EMPTY");
-        return;
-      }
-      ts->push_back(sendRequest(msr));
-      //planAndLogOffset(&penup);
-      setMoveGroupState(ts->back());
-
-    }
-    else
-    {
-      RCLCPP_ERROR(this->get_logger(), "Penup path is empty, all motions will be LIN");
-    }
-    if (!tail.empty())
-    {
-      auto msr = createMotionSequenceRequest(&tail, "LIN");
-      RCLCPP_ERROR(this->get_logger(), "Created MSR for tail");
-      if (msr.items.empty())
-      {
-        RCLCPP_ERROR(this->get_logger(), "MSR EMPTY");
-        return;
-      }
-      ts->push_back(sendRequest(msr));
-      //planAndLogOffset(&tail);
-      setMoveGroupState(ts->back());
-    }
-    else
-    {
-      RCLCPP_ERROR(this->get_logger(), "Path was empty, no trajectories created");
-    }
-  }
-
   /**
    * Callback that executes path on robot
    */
@@ -513,33 +394,31 @@ public:
     auto feedback = std::make_shared<robot_interfaces::action::ExecuteMotion::Feedback>();
     auto result = std::make_shared<robot_interfaces::action::ExecuteMotion::Result>();
 
-    std::vector<moveit_msgs::msg::RobotTrajectory> ts;
+    auto msr = createMotionSequenceRequest(&goal->motion.path);
-    pathToTrajectory(&goal->motion.path, &ts);
+    RCLCPP_INFO(this->get_logger(), "Created MSR");
 
-    long unsigned int n = 0;
+    //planAndLogOffset(&goal->motion.path);
-
-    RCLCPP_INFO(this->get_logger(), "Got %ld trajectories", ts.size());
-    for (auto t : ts)
-    {
-      RCLCPP_INFO(this->get_logger(), "Adding result to motion queue");
-      if (t.joint_trajectory.points.empty())
-      {
-        RCLCPP_ERROR(this->get_logger(), "TRAJECTORY IS EMPTY");
-        continue;
-      }
-      trajectory_queue.push(t);
-      n++;
-    }
 
+    RCLCPP_INFO(this->get_logger(), "Creating req");
+    auto req = std::make_shared<moveit_msgs::srv::GetMotionSequence::Request>();
+    RCLCPP_INFO(this->get_logger(), "Setting msr request");
+    req->request = msr;
+    RCLCPP_INFO(this->get_logger(), "Sending request to sequence service");
+    auto res = sequence_client_->async_send_request(req);
+    RCLCPP_INFO(this->get_logger(), "Waiting for result");
+    auto ts = res.get()->response.planned_trajectories;
     std::string status = "";
-    if (n == ts.size())
+    if (ts.size() > 0)
     {
       status = "success";
+      RCLCPP_INFO(this->get_logger(), "Got %ld trajectories", ts.size());
+      RCLCPP_INFO(this->get_logger(), "Executing result");
+      move_group.execute(ts[0]);
+
       status = status + "," + pointsToString(&goal->motion.path,0,0,0);
       appendLineToFile("OUTPUT.csv", status);
 
       result->result = "success";
-
       goal_handle->succeed(result);
       RCLCPP_INFO(this->get_logger(), "Goal succeeded");
       return;

src/lite6_controller/src/lite6_trajectory_executor.cpp

@@ -1,111 +0,0 @@
-#include <cstdio>
-#include <rclcpp/rclcpp.hpp>
-#include <robot_controller/robot_controller.hpp>
-#include <chrono>
-#include <cstdlib>
-#include <queue>
-
-#include <fstream>
-#include <iostream>
-
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <geometry_msgs/msg/pose.hpp>
-#include <moveit_msgs/msg/collision_object.hpp>
-
-//#include <moveit/planning_interface/planning_interface.h>
-//#include <moveit/planning_interface/planning_response.h>
-//#include <moveit/kinematic_constraints/kinematic_constraint.h>
-#include <moveit/kinematic_constraints/utils.h>
-#include <moveit/move_group_interface/move_group_interface.h>
-
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2_eigen/tf2_eigen.hpp>
-
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/common_planning_interface_objects/common_objects.h>
-#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-
-
-#include <moveit_msgs/msg/constraints.hpp>
-#include <moveit_msgs/msg/robot_trajectory.hpp>
-#include <moveit_msgs/msg/motion_plan_request.hpp>
-#include <moveit_msgs/msg/motion_sequence_request.hpp>
-#include <moveit_msgs/msg/motion_sequence_item.hpp>
-#include <moveit_msgs/srv/get_motion_sequence.hpp>
-
-
-#include <moveit/moveit_cpp/moveit_cpp.h>
-#include <moveit/moveit_cpp/planning_component.h>
-
-#include <moveit/robot_trajectory/robot_trajectory.h>
-
-#include <pilz_industrial_motion_planner/command_list_manager.h>
-
-const std::string MOVE_GROUP = "lite6";
-
-using namespace std::chrono_literals;
-
-class TrajectoryExecutor : public rclcpp::Node
-{
-  public:
-    //trajectory_pub = this->create_publisher<moveit_msgs::msg::RobotTrajectory>("lite6_trajectory", 10);
-    rclcpp::Subscription<moveit_msgs::msg::RobotTrajectory>::SharedPtr subscription;
-    moveit::planning_interface::MoveGroupInterface move_group;
-
-    rclcpp::TimerBase::SharedPtr trajectory_timer_;
-    std::queue<moveit_msgs::msg::RobotTrajectory> trajectory_queue;
-    bool busy = false;
-
-    TrajectoryExecutor(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
-      : Node("lite6_trajectory_executor",options),
-        move_group(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP)
-    {
-      subscription = this->create_subscription<moveit_msgs::msg::RobotTrajectory>(
-        "lite6_trajectory", 100, std::bind(&TrajectoryExecutor::trajectory_callback, this, std::placeholders::_1));
-
-      trajectory_timer_ = this->create_wall_timer(
-        10ms, std::bind(&TrajectoryExecutor::executeTrajectoryFromQueue, this));
-    }
-    void trajectory_callback(const moveit_msgs::msg::RobotTrajectory msg)
-    {
-      RCLCPP_INFO(this->get_logger(), "Received trajectory, adding to queue");
-      //move_group.execute(msg);
-      trajectory_queue.push(msg);
-    }
-
-    void executeTrajectoryFromQueue()
-    {
-      if (busy || trajectory_queue.empty())
-        return;
-      busy = true;
-      RCLCPP_INFO(this->get_logger(), "Executing next trajectory from queue");
-      move_group.execute(trajectory_queue.front());
-      trajectory_queue.pop();
-      busy = false;
-      RCLCPP_INFO(this->get_logger(), "Finished executing trajectory");
-    }
-};
-
-/**
- * Starts lite6_controller
- */
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-
-  auto trajectory_executor = std::make_shared<TrajectoryExecutor>();
-
-  // TODO remove sleep if not necessary
-  // Sleep in case move_group not loaded
-  rclcpp::sleep_for(2s);
-
-  //rclcpp::executors::SingleThreadedExecutor executor;
-  rclcpp::executors::MultiThreadedExecutor executor;
-  //executor.add_node(lite6);
-  executor.add_node(trajectory_executor);
-  executor.spin();
-
-  rclcpp::shutdown();
-  return EXIT_SUCCESS;
-}

src/robot_controller/src/cpp/dummy_controller.cpp

@@ -23,7 +23,7 @@ class DummyController : public RobotController
   virtual void executePath(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteMotion>> goal_handle)
   {
     RCLCPP_INFO(this->get_logger(), "Executing goal");
-    rclcpp::Rate loop_rate(100);
+    rclcpp::Rate loop_rate(20);
     const auto goal = goal_handle->get_goal();
     auto feedback = std::make_shared<robot_interfaces::action::ExecuteMotion::Feedback>();
     auto result = std::make_shared<robot_interfaces::action::ExecuteMotion::Result>();

src/virtual_drawing_surface/CMakeLists.txt

@@ -40,6 +40,6 @@ endif()
 
 # Install directories
 #install(DIRECTORY launch rviz urdf worlds DESTINATION share/${PROJECT_NAME})
-#install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 ament_package()

src/virtual_drawing_surface/src/py/drawing_surface.py

@@ -73,7 +73,7 @@ class DrawingApp(tk.Tk):
     def draw(self,x,y,z):
         # putpixel is too slow
         #self.img.putpixel((int(x), int(y)), (255, 0, 0))
-        r = 3 # radius
+        r = 4 # radius
         for xp in range(max(0, x-r), min(self.width-1, x+r)):
             for yp in range(max(0, y-r), min(self.height-1, y+r)):
                 self.arr[xp,yp,0] = 0 #red
@@ -105,7 +105,7 @@ class DrawingApp(tk.Tk):
             #y = translate(p.y, -0.51, -0.3, 0, self.height)
 
             x = int(translate(p.y, -0.5, 0.5, 0, self.width))
-            y = int(translate(p.x, -0.2485, 0.1, 0, self.height))
+            y = int(translate(p.x, -0.3485, 0.1, 0, self.height))
 
             #x = bound(self.width - x, 0, self.width)
             #y = bound(self.height - y, 0, self.height)