Set axidraw to max speed and acceleration

README.md

@@ -34,6 +34,13 @@ If active changes are being made, run:
 bash .docker/devel.bash
 ```
 This will mount the host `drawing-robot-ros2` directory in the container at `src/drawing-robot-ros2`.
+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
+```
 
 ## TODO Building locally
 
@@ -60,9 +67,11 @@ DummyController echoes Motion messages to the terminal.
 ros2 run robot_controller dummy_controller
 ```
 
-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
+ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0
 ```
 
 This starts the simulated lite6
@@ -87,6 +96,23 @@ 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
@@ -177,7 +203,7 @@ 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             |             |
 

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

@@ -42,6 +42,7 @@ class AxidrawSerial(Node):
     status = {
         "serial": "not ready",
         "motion": "waiting",
+        "pen": "up",
     }
 
     def init_serial(self, port):
@@ -60,9 +61,15 @@ 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 = 100  # 100% speed
+        self.ad.options.speed_penup = 100    # 100% speed
+        self.ad.options.accel = 100          # 100% speed
+        self.ad.options.pen_rate_lower = 100 # 100% speed
+        self.ad.options.pen_rate_raise = 100 # 100% speed
         self.ad.update()                     # Process changes to options
         self.status["serial"] = "ready"
         self.status["motion"] = "ready"
+        self.status["pen"] = "up"
         return True
 
     def __init__(self):
@@ -83,7 +90,8 @@ class AxidrawSerial(Node):
         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:{}".format(port))
+            self.get_logger().error("Failed to connect to axidraw on port:{}, retrying".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))
@@ -165,7 +173,9 @@ class AxidrawSerial(Node):
 
         self.get_logger().info("Received penup: {}".format(msg))
 
-        self.ad.penup()
+        if self.status['pen'] == "down":
+            self.ad.penup()
+            self.status['pen'] = "up"
         self.set_ready()
 
     def pendown_callback(self, msg):
@@ -178,7 +188,9 @@ class AxidrawSerial(Node):
 
         self.get_logger().info("Received pendown: {}".format(msg))
 
-        self.ad.pendown()
+        if self.status['pen'] == "up":
+            self.ad.pendown()
+            self.status['pen'] = "down"
         self.set_ready()
 
     def stroke_callback(self, msg):
@@ -193,6 +205,7 @@ 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

@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 2.0
+  max_trans_acc: 3.00
+  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: 2.14
+    max_velocity: 10.14
     has_acceleration_limits: true
-    max_acceleration: 1.0
+    max_acceleration: 20.0
   joint2:
     has_velocity_limits: true
-    max_velocity: 2.14
+    max_velocity: 10.14
     has_acceleration_limits: true
-    max_acceleration: 1.0
+    max_acceleration: 20.0
   joint3:
     has_velocity_limits: true
-    max_velocity: 2.14
+    max_velocity: 10.14
     has_acceleration_limits: true
-    max_acceleration: 1.0
+    max_acceleration: 20.0
   joint4:
     has_velocity_limits: true
-    max_velocity: 2.14
+    max_velocity: 10.14
     has_acceleration_limits: true
-    max_acceleration: 1.0
+    max_acceleration: 20.0
   joint5:
     has_velocity_limits: true
-    max_velocity: 2.14
+    max_velocity: 10.14
     has_acceleration_limits: true
-    max_acceleration: 1.0
+    max_acceleration: 20.0
   joint6:
     has_velocity_limits: true
-    max_velocity: 2.14
+    max_velocity: 10.14
     has_acceleration_limits: true
-    max_acceleration: 1.0
+    max_acceleration: 20.0

src/custom_xarm_moveit_config/launch/lib/robot_moveit_config_lib.py

@@ -65,19 +65,22 @@ def add_prefix_to_moveit_params(controllers_yaml=None, ompl_planning_yaml=None,
 
 
 def 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']),
+    xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+    xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_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 = 'xarm_moveit_config'
+    moveit_config_package_name = 'custom_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('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'))
     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, 
@@ -87,6 +90,6 @@ def get_xarm_robot_description_parameters(
             xacro_file=xacro_srdf_file,
             arguments=srdf_arguments
         ),
-        'robot_description_planning': load_yaml(moveit_config_package_name, 'config', xarm_type, 'joint_limits.yaml'),
+        'robot_description_planning': joint_limits,
         'robot_description_kinematics': load_yaml(moveit_config_package_name, 'config', xarm_type, 'kinematics.yaml')
     }

src/drawing_controller/drawing_controller/svg_path_parser.py

@@ -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
-            n = 50
-            curve = cf.cubic_curve(control_points)
+            #control_points = control_points / maxval #normalize values
+            n = 500
+            curve = cf.bezier(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)
@@ -136,6 +136,20 @@ 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 = 500
+            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]
@@ -208,7 +222,6 @@ 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()),
@@ -221,7 +234,6 @@ 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()),
@@ -238,9 +250,27 @@ class SVGPathParser():
                 self.logger.error("SVG path parser '{}' not implemented".format(w))
             # Quadratic Bézier Curve commands
             if (w == "Q"):
-                self.logger.error("SVG path parser '{}' not implemented".format(w))
+                while True:
+                    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"):
-                self.logger.error("SVG path parser '{}' not implemented".format(w))
+                while True:
+                    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"):

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 = 0.001
+        tolerance = 0.0001
         prev = (-1, -1, 0)
         for i, p in enumerate(motion):
             x = p[0]
@@ -198,7 +198,7 @@ class SVGProcessor():
         """
         # For RDP, Try an epsilon of 1.0 to start with. Other sensible values include 0.01, 0.001
         #epsilon = 0.009
-        epsilon = 0.005
+        epsilon = 0.0005
 
         tmp = []
         out = []
@@ -215,6 +215,7 @@ 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

@@ -16,6 +16,8 @@ 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)
@@ -45,6 +47,19 @@ 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()
@@ -52,6 +67,7 @@ endif()
 
 install(TARGETS
   lite6_controller
+  lite6_calibration
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

src/lite6_controller/launch/lite6_gazebo.launch.py

@@ -17,7 +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("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
+    rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("custom_xarm_description"), "rviz", "display.rviz"))
 
     prefix = LaunchConfiguration('prefix', default='')
     hw_ns = LaunchConfiguration('hw_ns', default='xarm')
@@ -263,10 +263,14 @@ 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)
 
+    #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):
-        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
+    #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)]['max_acceleration'] = 1.0
 
     kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
     #kinematics_yaml['kinematics_solver'] = 'lma_kinematics_plugin/LMAKinematicsPlugin'
@@ -300,12 +304,8 @@ def launch_setup(context, *args, **kwargs):
         prefix=prefix.perform(context))
 
 
-    robot_description_parameters['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
-
+    #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']
 
     # Planning pipeline
     # https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py

src/lite6_controller/launch/lite6_real.launch.py

@@ -75,7 +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('xarm_description'), 'launch', '_robot_description.launch.py'])),
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'launch', '_robot_description.launch.py'])),
         launch_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns,
@@ -105,12 +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 = 'xarm_moveit_config'
+    moveit_config_package_name = 'custom_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']),
+        xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+        xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
         urdf_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns.perform(context).strip('/'),
@@ -154,17 +154,12 @@ 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']
 
-    robot_description_parameters['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
-
-    #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'] = '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)
@@ -186,11 +181,11 @@ 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):
-        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'] = 2.5
-        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 3.0
+    #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)]['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'] = 3.0
 
     add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
     add_prefix_to_moveit_params(
@@ -249,7 +244,8 @@ 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",
         }
     }
 
@@ -264,6 +260,7 @@ 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

@@ -75,7 +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('xarm_description'), 'launch', '_robot_description.launch.py'])),
+        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'launch', '_robot_description.launch.py'])),
         launch_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns,
@@ -105,12 +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 = 'xarm_moveit_config'
+    moveit_config_package_name = 'custom_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']),
+        xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
+        xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
         urdf_arguments={
             'prefix': prefix,
             'hw_ns': hw_ns.perform(context).strip('/'),
@@ -156,9 +156,9 @@ def launch_setup(context, *args, **kwargs):
     joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
 
     # FIX acceleration limits
-    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)]['max_acceleration'] = 1.0
+    #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)]['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)))
@@ -182,11 +182,8 @@ def launch_setup(context, *args, **kwargs):
         kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
         prefix=prefix.perform(context))
 
-    robot_description_parameters['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
+    #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']
 
     # Planning Configuration
     ompl_planning_pipeline_config = {

src/lite6_controller/package.xml

@@ -15,6 +15,8 @@
   <!-- <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

@@ -0,0 +1,106 @@
+#include <signal.h>
+#include <chrono>
+#include <rclcpp/rclcpp.hpp>
+#include <xarm_api/xarm_ros_client.h>
+#include <iostream>
+#include <string>
+
+
+void exit_sig_handler(int signum)
+{
+    fprintf(stderr, "[lite6_calibration] Ctrl-C caught, exit process...\n");
+    exit(-1);
+}
+
+void wait()
+{
+ do
+ {
+   std::cout << '\n' << "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) {
+    for (auto i : jnts)
+      std::cout << i << std::endl;
+}
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);
+    std::string hw_ns = "ufactory";
+    std::shared_ptr<rclcpp::Node> 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.");
+    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 = {-0.813972, -0.0103697, 0.554617, 3.09979, -0.627334, -0.397301, 0};
+
+    std::vector<float> jnt_pose = { 0, 0, 0, 0, 0, 0, 0 };
+    client.get_servo_angle(jnt_pose);
+    println("Moving to start drawing pose");
+//XArmROSClient::set_servo_angle(const std::vector<fp32>& angles, fp32 speed, fp32 acc, fp32 mvtime, bool wait, fp32 timeout, fp32 radius)
+    client.set_servo_angle(jnt_drawing_pose, 1, 1, 1, true, 100, -1);
+    //client.set_servo_angle_j(jnt_drawing_pose, 1, 1, 100);
+    //rclcpp::sleep_for(std::chrono::seconds(5));
+
+
+
+    client.set_mode(0);
+    client.set_state(0);
+    return 0;
+
+    client.set_mode(4);
+    client.set_state(0);
+    std::vector<float> jnt_v = { 1, 0, 0, 0, 0, 0, 0 };
+    ret = client.vc_set_joint_velocity(jnt_v);
+    RCLCPP_INFO(rclcpp::get_logger("test_xarm_velo_move"), "velo_move_joint: %d", ret);
+    rclcpp::sleep_for(std::chrono::seconds(2));
+    jnt_v[0] = -1;
+    ret = client.vc_set_joint_velocity(jnt_v);
+    RCLCPP_INFO(rclcpp::get_logger("test_xarm_velo_move"), "velo_move_joint: %d", ret);
+    rclcpp::sleep_for(std::chrono::seconds(2));
+    // stop
+    jnt_v[0] = 0;
+    ret = client.vc_set_joint_velocity(jnt_v);
+    RCLCPP_INFO(rclcpp::get_logger("test_xarm_velo_move"), "velo_move_joint: %d", ret);
+
+    std::vector<float> line_v = { 1, 0, 0, 0, 0, 0};
+    client.set_mode(5);
+	client.set_state(0);
+    ret = client.vc_set_cartesian_velocity(line_v);
+    RCLCPP_INFO(rclcpp::get_logger("test_xarm_velo_move"), "velo_move_line: %d", ret);
+    rclcpp::sleep_for(std::chrono::seconds(2));
+    line_v[0] = -1;
+    ret = client.vc_set_cartesian_velocity(line_v);
+    RCLCPP_INFO(rclcpp::get_logger("test_xarm_velo_move"), "velo_move_line: %d", ret);
+    rclcpp::sleep_for(std::chrono::seconds(2));
+    // stop
+    line_v[0] = 0;
+    ret = client.vc_set_cartesian_velocity(line_v);
+    RCLCPP_INFO(rclcpp::get_logger("test_xarm_velo_move"), "velo_move_line: %d", ret);
+
+    RCLCPP_INFO(rclcpp::get_logger("test_xarm_velo_move"), "test_xarm_velo_move over");
+    return 0;
+}

src/lite6_controller/src/lite6_controller.cpp

@@ -89,8 +89,8 @@ public:
   float xlim_upper = 0.305;
   float ylim_lower = -0.1475;
   float ylim_upper = 0.1475;
-  float zlim_lower = 0.210;
-  float zlim_upper = 0.218;
+  float zlim_lower = 0.1945;
+  float zlim_upper = 0.200;
 
   //bool moved = false;
   //
@@ -121,8 +121,8 @@ public:
     this->move_group.setMaxAccelerationScalingFactor(1.0);
 
     //setting this lower seems to improve overall time and prevents robot from moving too fast
-    //this->move_group.setMaxVelocityScalingFactor(1.0);
-    this->move_group.setMaxVelocityScalingFactor(0.8);
+    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));
@@ -233,13 +233,15 @@ public:
       moveit_msgs::msg::MotionSequenceItem msi = moveit_msgs::msg::MotionSequenceItem();
 
       planning_interface::MotionPlanRequest mpr = planning_interface::MotionPlanRequest();
-      mpr.planner_id = "PTP";
-      //mpr.planner_id = "LIN";
+      //mpr.planner_id = "PTP";
+      mpr.planner_id = "LIN";
       mpr.group_name = move_group.getName();
-      mpr.max_velocity_scaling_factor = 1.0;
-      mpr.max_acceleration_scaling_factor = 0.98;
+      //mpr.max_velocity_scaling_factor = 1.0;
+      mpr.max_velocity_scaling_factor = 0.3;
+      mpr.max_acceleration_scaling_factor = 0.4;
+      //mpr.max_acceleration_scaling_factor = 0.1;
       mpr.allowed_planning_time = 10;
-      mpr.max_cartesian_speed = 2; // m/s
+      mpr.max_cartesian_speed = 3; // m/s
       //mpr.goal_constraints.position_constraints.header.frame_id = "world";
 
       // A tolerance of 0.01 m is specified in position

src/lite6_controller/src/lite6_trajectory_executor.cpp

@@ -0,0 +1,111 @@
+#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/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 = 4 # radius
+        r = 3 # 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, -0.3485, 0.1, 0, self.height))
+            y = int(translate(p.x, -0.2485, 0.1, 0, self.height))
 
             #x = bound(self.width - x, 0, self.width)
             #y = bound(self.height - y, 0, self.height)