Restructure codebase

.docker/run.bash

@@ -76,7 +76,9 @@ GUI_ENVS=(
 CUSTOM_VOLUMES+=("/etc/localtime:/etc/localtime:ro")
 
 # Pass USB devices to container
-USB_VOLUME+=("/dev/bus/usb:/dev/bus/usb")
+#USB_VOLUME+=("/dev/bus/usb:/dev/bus/usb")
+DEVICE_VOLUME+=("/dev:/dev:rw")
+#USB_SERIAL+=("/dev/ttyACM0:/dev/ttyACM0")
 
 ## Additional environment variables
 # Synchronize ROS_DOMAIN_ID with host
@@ -114,7 +116,9 @@ DOCKER_RUN_CMD=(
     "${GPU_OPT}"
     "${GPU_ENVS[@]/#/"--env "}"
     "${CUSTOM_VOLUMES[@]/#/"--volume "}"
-    "${USB_VOLUME[@]/#/"--volume "}"
+    "${DEVICE_VOLUME[@]/#/"--volume "}"
+    #"${USB_VOLUME[@]/#/"--volume "}"
+    #"${USB_SERIAL[@]/#/"--volume "}"
     "${CUSTOM_ENVS[@]/#/"--env "}"
     "${TAG}"
     "${CMD}"

README.md

@@ -9,3 +9,22 @@ colcon build
 source install/local_setup.bash
 ros2 launch draw_svg draw_svg.launch.py
 ```
+
+## xArm lite6
+- web interface: http://192.168.1.150:18333
+## ROS2 rpi4
+https://github.com/ros-realtime/ros-realtime-rpi4-image/releases
+
+After unpacking the tar file, flash it to sd card.
+Log in with "ubuntu:ubuntu".
+
+``` sh
+sudo -i
+loadkeys fi
+passwd ubuntu #change from default 'ubuntu' to '1234'
+apt-mark hold $(uname -r) linux-firmware u-boot-rpi u-boot-tools #prevent kernel updates
+apt-mark hold libraspberrypi-bin libraspberrypi-dev libraspberrypi-doc libraspberrypi0
+apt-mark hold raspberrypi-bootloader raspberrypi-kernel raspberrypi-kernel-headers
+
+apt update && apt upgrade
+```

src/axidraw_controller/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(axidraw_controller)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+ament_package()

src/axidraw_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>axidraw_controller</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>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/axidraw_controller/src/test.py

@@ -2,6 +2,7 @@
 from pyaxidraw import axidraw   # import module
 ad = axidraw.AxiDraw()          # Initialize class
 ad.interactive()                # Enter interactive context
+ad.options.port = "/dev/ttyAXI"
 if not ad.connect():            # Open serial port to AxiDraw;
     quit()                      #   Exit, if no connection.
 ad.options.units = 1            # set working units to cm.

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/src/py/draw_svg.py

@@ -55,7 +55,7 @@ class PublishTarget(Node):
     def __init__(self):
         super().__init__('publisher')
         self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
-        timer_period = 7.0  # seconds
+        timer_period = 4.0  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
         self.i = 0
 
@@ -66,7 +66,7 @@ class PublishTarget(Node):
         #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')), 0.1, 0.5, -0.2, 0.2)
+        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'):

src/drawing_controller/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(drawing_controller)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+ament_package()

src/drawing_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>drawing_controller</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>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/drawing_controller/src/drawing_controller.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+"""Sends motions individually to robot_controller"""
+
+import rclpy
+from geometry_msgs.msg import Pose, PoseStamped
+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 DrawingController(Node):
+    def __init__(self):
+        super().__init__('drawing_controller')
+        self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
+        timer_period = 7.0  # 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')), 0.1, 0.5, -0.2, 0.2)
+        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/lite6_controller/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(lite6_controller)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+ament_package()

src/lite6_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>lite6_controller</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>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/robot_controller/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_controller)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(robot_interfaces REQUIRED)
+
+#add_executable(robotcontroller src/robotcontroller.cpp)
+#ament_target_dependencies(robotcontroller rclcpp robot_interfaces)
+
+install(TARGETS
+  talker
+  listener
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

src/robot_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>robot_controller</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>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/robot_controller/src/robotcontroller.cpp

@@ -0,0 +1,41 @@
+#include <cstdio>
+#include <rclcpp/rclcpp.hpp>
+
+class RobotController : public rclcpp::Node
+{
+public:
+  /// Constructor
+  RobotController();
+
+private:
+  /// Callback that executes path on robot
+    virtual void add(const std::shared_ptr<robot_interfaces::srv::AddThreeInts::Request> request,
+                           std::shared_ptr<robot_interfaces::srv::AddThreeInts::Response>       response);
+};
+
+RobotController::RobotController(string name) : Node(name)
+{
+  // 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.");
+}
+
+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;
+  (void) argc;
+  (void) argv;
+
+  printf("hello world\n");
+  return 0;
+}

src/robot_interfaces/CMakeLists.txt

@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_interfaces)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Motion.msg"
+  "srv/ExecuteMotion.srv"
+  DEPENDENCIES geometry_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+)
+
+ament_package()

src/robot_interfaces/msg/Motion.msg

@@ -0,0 +1,5 @@
+# A single motion, consisting of a list of timestamped points
+
+geometry_msgs/PoseStamped[] path
+float64 acceleration
+float64 velocity

src/robot_interfaces/package.xml

@@ -0,0 +1,26 @@
+<?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>robot_interfaces</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>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>geometry_msgs</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/robot_interfaces/srv/ExecuteMotion.srv

@@ -0,0 +1,5 @@
+# Motion service
+
+Motion motion
+---
+string status