Move execution to new ROS2 node

2023-03-27 11:44:25 +03:00
18 changed files with 132 additions and 391 deletions
--- a/README.md
+++ b/README.md
@@ -34,13 +34,6 @@ 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

@@ -67,11 +60,9 @@ DummyController echoes Motion messages to the terminal.
 ros2 run robot_controller dummy_controller
 ```

-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.
+AxidrawController draws on the axidraw robot
 ``` sh
-ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0
+ros2 launch axidraw_controller axidraw_controller
 ```

 This starts the simulated lite6
@@ -96,23 +87,6 @@ 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
@@ -203,7 +177,7 @@ 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             |             |

--- a/src/axidraw_controller/src/cpp/axidraw_controller.cpp
+++ b/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++;
--- a/src/axidraw_controller/src/py/axidraw_serial.py
+++ b/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):
@@ -61,15 +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 = 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):
@@ -90,8 +83,7 @@ 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:{}, retrying".format(port))
-        self.get_logger().info("Successfully connected to axidraw on port:{}".format(port))
+            self.get_logger().error("Failed to connect 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))
@@ -173,9 +165,7 @@ class AxidrawSerial(Node):

        self.get_logger().info("Received penup: {}".format(msg))

-        if self.status['pen'] == "down":
-            self.ad.penup()
-            self.status['pen'] = "up"
+        self.ad.penup()
        self.set_ready()

    def pendown_callback(self, msg):
@@ -188,9 +178,7 @@ class AxidrawSerial(Node):

        self.get_logger().info("Received pendown: {}".format(msg))

-        if self.status['pen'] == "up":
-            self.ad.pendown()
-            self.status['pen'] = "down"
+        self.ad.pendown()
        self.set_ready()

    def stroke_callback(self, msg):
@@ -205,7 +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()


--- a/src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml
+++ b/src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml
@@ -1,5 +0,0 @@
-cartesian_limits:
-  max_trans_vel: 2.0
-  max_trans_acc: 3.00
-  max_trans_dec: -5.0
-  max_rot_vel: 1.57
--- a/src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml
+++ b/src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml
@@ -4,31 +4,31 @@
 joint_limits:
  joint1:
    has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 2.14
    has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 1.0
  joint2:
    has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 2.14
    has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 1.0
  joint3:
    has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 2.14
    has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 1.0
  joint4:
    has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 2.14
    has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 1.0
  joint5:
    has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 2.14
    has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 1.0
  joint6:
    has_velocity_limits: true
-    max_velocity: 10.14
+    max_velocity: 2.14
    has_acceleration_limits: true
-    max_acceleration: 20.0
+    max_acceleration: 1.0
--- a/src/custom_xarm_moveit_config/launch/lib/robot_moveit_config_lib.py
+++ b/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_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
+    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={},
    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')
    }
--- a/src/drawing_controller/drawing_controller/svg_path_parser.py
+++ b/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 = 500
-            curve = cf.bezier(control_points)
+            control_points = control_points / maxval #normalize values
+            n = 50
+            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 = 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]
@@ -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:
-                    control_points = [(x,y),
-                                      (getnum(),getnum()),
-                                      (getnum(),getnum())]
-                    coordinates = quadratic_bezier(control_points)
-                    appendpoints(coordinates)
-                    if not nextisnum():
-                        break
-                i += 1
-                continue
+                self.logger.error("SVG path parser '{}' not implemented".format(w))
            if (w == "q"):
-                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
+                self.logger.error("SVG path parser '{}' not implemented".format(w))
            if (w == "T"):
                self.logger.error("SVG path parser '{}' not implemented".format(w))
            if (w == "t"):
--- a/src/drawing_controller/drawing_controller/svg_processor.py
+++ b/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]
@@ -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 = 0.0005
+        epsilon = 0.005

        tmp = []
        out = []
@@ -215,7 +215,6 @@ class SVGProcessor():
                tmp.append(list(p)[:-1])
            lastup = penup

-        # Handle anything left in tmp
        if (len(tmp) > 0):
            out += sf(tmp)

--- a/src/lite6_controller/CMakeLists.txt
+++ b/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)
@@ -46,11 +44,8 @@ ament_target_dependencies(lite6_controller
  "robot_controller"
  "moveit_ros_planning_interface"
  "robot_interfaces")
-
-add_executable(lite6_calibration src/lite6_calibration.cpp)
-ament_target_dependencies(lite6_calibration
-  "xarm_msgs"
-  "xarm_api"
+add_executable(lite6_trajectory_executor src/lite6_trajectory_executor.cpp)
+ament_target_dependencies(lite6_trajectory_executor
  "rclcpp"
  "moveit"
  "rclcpp_action"
@@ -67,7 +62,7 @@ endif()

 install(TARGETS
  lite6_controller
-  lite6_calibration
+  lite6_trajectory_executor
  DESTINATION lib/${PROJECT_NAME})

 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
--- a/src/lite6_controller/launch/lite6_gazebo.launch.py
+++ b/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("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')
@@ -191,6 +191,17 @@ def launch_setup(context, *args, **kwargs):
                {"use_sim_time": use_sim_time},
            ],
        ),
+        Node(
+            package="lite6_controller",
+            executable="lite6_trajectory_executor",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[
+                robot_description,
+                robot_description_semantic,
+                {"use_sim_time": use_sim_time},
+            ],
+        ),
        Node(
            package="virtual_drawing_surface",
            executable="drawing_surface.py",
@@ -263,14 +274,10 @@ 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)

-    #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'
@@ -304,8 +311,12 @@ 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['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
+    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
+

    # Planning pipeline
    # https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py
--- a/src/lite6_controller/launch/lite6_real.launch.py
+++ b/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('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,
@@ -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 = '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_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
+        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('/'),
@@ -154,12 +154,17 @@ 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'
-    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
+    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_timeout'] = 10.0
    kinematics_yaml['kinematics_solver_attempts'] = 10

    joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
@@ -181,11 +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):
-    #    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(
@@ -244,8 +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": "LIN",
+            "default_planner_config": "PTP",
        }
    }

@@ -260,7 +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,
--- a/src/lite6_controller/launch/lite6_real_no_gui.launch.py
+++ b/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('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,
@@ -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 = '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_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
+        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('/'),
@@ -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)))
@@ -182,8 +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['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
+    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

    # Planning Configuration
    ompl_planning_pipeline_config = {
--- a/src/lite6_controller/package.xml
+++ b/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>
--- a/src/lite6_controller/src/lite6_calibration.cpp
+++ b/src/lite6_controller/src/lite6_calibration.cpp
@@ -1,106 +0,0 @@
-#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;
-}
--- a/src/lite6_controller/src/lite6_controller.cpp
+++ b/src/lite6_controller/src/lite6_controller.cpp
@@ -72,6 +72,8 @@ public:
  rclcpp::TimerBase::SharedPtr trajectory_timer_;
  bool busy = false;

+  rclcpp::Publisher<moveit_msgs::msg::RobotTrajectory>::SharedPtr trajectory_pub;
+
  /**
   * TODO Use instead of MoveGroupInterface
   * https://industrial-training-master.readthedocs.io/en/foxy/_source/session4/ros2/0-Motion-Planning-CPP.html
@@ -89,8 +91,8 @@ public:
  float xlim_upper = 0.305;
  float ylim_lower = -0.1475;
  float ylim_upper = 0.1475;
-  float zlim_lower = 0.1945;
-  float zlim_upper = 0.200;
+  float zlim_lower = 0.210;
+  float zlim_upper = 0.218;

  //bool moved = false;
  //
@@ -121,8 +123,11 @@ 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);
+
+
+    trajectory_pub = this->create_publisher<moveit_msgs::msg::RobotTrajectory>("lite6_trajectory", 100);

    // 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));
@@ -233,15 +238,13 @@ 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_velocity_scaling_factor = 0.3;
-      mpr.max_acceleration_scaling_factor = 0.4;
-      //mpr.max_acceleration_scaling_factor = 0.1;
+      mpr.max_velocity_scaling_factor = 1.0;
+      mpr.max_acceleration_scaling_factor = 0.98;
      mpr.allowed_planning_time = 10;
-      mpr.max_cartesian_speed = 3; // m/s
+      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
@@ -443,7 +446,8 @@ public:
      RCLCPP_INFO(this->get_logger(), "Got %ld trajectories", ts.size());
      RCLCPP_INFO(this->get_logger(), "Adding result to motion queue");

-      trajectory_queue.push(ts[0]);
+      //trajectory_queue.push(ts[0]);
+      this->trajectory_pub->publish(ts[0]);

      // Set move_group_state to the last state of planned trajectory (planning of next trajectory starts there)
      robot_trajectory::RobotTrajectory rt(move_group.getRobotModel());
@@ -473,6 +477,27 @@ public:
  }
 };

+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;
+    TrajectoryExecutor()
+      : Node("lite6_trajectory_executor"),
+        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));
+    }
+    void trajectory_callback(const moveit_msgs::msg::RobotTrajectory msg)
+    {
+      RCLCPP_INFO(this->get_logger(), "Received trajectory, executing");
+      move_group.execute(msg);
+      RCLCPP_INFO(this->get_logger(), "Finished executing trajectory");
+    }
+};
+
 /**
 * Starts lite6_controller
 */
@@ -493,6 +518,7 @@ int main(int argc, char ** argv)
  //rclcpp::executors::SingleThreadedExecutor executor;
  rclcpp::executors::MultiThreadedExecutor executor;
  executor.add_node(lite6);
+  //executor.add_node(trajectory_executor);
  executor.spin();

  rclcpp::shutdown();
--- a/src/lite6_controller/src/lite6_trajectory_executor.cpp
+++ b/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;
-}
--- a/src/virtual_drawing_surface/CMakeLists.txt
+++ b/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()
--- a/src/virtual_drawing_surface/src/py/drawing_surface.py
+++ b/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)