# drawing-robot-ros2

This repository contains ROS2 packages which make up a system used for drawing SVG images on different robots.
These packages are in 'src/'.

Documentation and build scripts for the entire project are at the top level.

The simplest way to run the project currently is by building and running the docker container.

## Docker
### Build container

``` sh
bash .docker/build.bash
```

### Run built container
``` sh
bash .docker/run.bash
```

If active changes are being made, run:
``` sh
bash .docker/devel.bash
```
This will mount the host `drawing-robot-ros2` directory in the container at `src/drawing-robot-ros2`.

## TODO Building locally

Requirements:
- python3-pip 
- python3-pil.imagetk
- ros-humble-moveit
- ros-humble-ros-gz
- ignition-fortress

``` sh
./rebuild.sh
```
``` sh
source src/install/local_setup.bash
```

## Running
### RobotController
One of the following RobotControllers should be started:

DummyController echoes Motion messages to the terminal.
``` sh
ros2 run robot_controller dummy_controller
```

AxidrawController draws on the axidraw robot
``` sh
ros2 launch axidraw_controller axidraw_controller
```

This starts the simulated lite6
``` sh
ros2 launch lite6_controller lite6_gazebo.launch.py
```

This runs the real lite6
``` sh
ros2 launch lite6_controller lite6_real.launch.py
```

This runs the real lite6 without Rviz (can be run on headless device over ssh)
``` sh
ros2 launch lite6_controller lite6_real_no_gui.launch.py
```

### DrawingController
Once a RobotController is running, simultaneously (using tmux or another terminal) run
``` sh
ros2 run drawing_controller drawing_controller svg/test.svg
```
This will draw the svg image given as the last argument.

## SVG compatibility info
Tested with SVG from the following programs
- Inkscape
- Inkpad
- Affinitydraw
- vtracer

Delimiter characters seem to vary somewhat.
The following examples work:
TODO ADD EXAMPLES OF SVG PATHS

The following SVG primitives are supported:
| Primitive                           | Support  |
|-------------------------------------|----------|
| <a>                                 | no       |
| <animate>                           | no       |
| <animateMotion>                     | no       |
| <animateTransform>                  | no       |
| <circle>                            | no       |
| <clipPath>                          | no       |
| <defs>                              | no       |
| <desc>                              | no       |
| <discard>                           | no       |
| <ellipse>                           | no       |
| <feBlend>                           | no       |
| <feColorMatrix>                     | no       |
| <feComponentTransfer>               | no       |
| <feComposite>                       | no       |
| <feConvolveMatrix>                  | no       |
| <feDiffuseLighting>                 | no       |
| <feDisplacementMap>                 | no       |
| <feDistantLight>                    | no       |
| <feDropShadow>                      | no       |
| <feFlood>                           | no       |
| <feFuncA>                           | no       |
| <feFuncB>                           | no       |
| <feFuncG>                           | no       |
| <feFuncR>                           | no       |
| <feGaussianBlur>                    | no       |
| <feImage>                           | no       |
| <feMerge>                           | no       |
| <feMergeNode>                       | no       |
| <feMorphology>                      | no       |
| <feOffset>                          | no       |
| <fePointLight>                      | no       |
| <feSpecularLighting>                | no       |
| <feSpotLight>                       | no       |
| <feTile>                            | no       |
| <feTurbulence>                      | no       |
| <filter>                            | no       |
| <foreignObject>                     | no       |
| <g>                                 | yes      |
| <hatch>                             | no       |
| <hatchpath>                         | no       |
| <image>                             | no       |
| <line>                              | yes      |
| <linearGradient>                    | no       |
| <marker>                            | no       |
| <mask>                              | no       |
| <metadata>                          | no       |
| <mpath>                             | no       |
| <path>                              | partial  |
| <pattern>                           | no       |
| <polygon>                           | yes      |
| <polyline>                          | yes      |
| <radialGradient>                    | no       |
| <rect>                              | no       |
| <script>                            | no       |
| <set>                               | no       |
| <stop>                              | no       |
| <style>                             | no       |
| <svg>                               | no       |
| <switch>                            | no       |
| <symbol>                            | no       |
| <text>                              | no       |
| <textPath>                          | no       |
| <title>                             | no       |
| <tspan>                             | no       |
| <use>                               | no       |
| <view>                              | no       |

And the following SVG path commands are supported:
| Command type           | Supported         | Unsupported |
|------------------------|-------------------|-------------|
| MoveTo                 |  M, m             |             |
| LineTo                 |  L, l, H, h, V, v |             |
| Cubic Bézier Curve     |  C, c, S, s       |             |
| Quadratic Bézier Curve |                   | Q, q, T, t  |
| Elliptical Arc Curve   |                   | A, a        |
| ClosePath              |  Z, z             |             |


## Axidraw concerns
## xArm concerns
TODO make TCP height diagram

The following paths work, notic

## Creating compatible SVG images
https://github.com/visioncortex/vtracer

Use single layer (g) SVGs

## 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


apt install ros-dev-tools
```
``` sh
adduser ubuntu dialout #give access to serial devices (axidraw)
``` 

### Misc commands
``` sh
apt update
apt install git tmux python3-colcon-ros python3-pip ros-humble-moveit
``` 

``` sh
  apt install colcon
  apt search colcon
  apt install ros-dev-tools
  vi /etc/issue
  systemctl stop wpa_supplicant
  wpa_supplicant -B -i wlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf
  wpa_cli
  ip link set wlan0 up
  wpa_cli
  dhclient wlan0
  ping google.com
  apt install ros-galactic-moveit
  apt install xauth
  vim /etc/ssh/sshd_config
  systemctl restart sshd
  colcon build --packages-select robot_interfaces robot_controller
```

sets priority for wlan0; uses it as gateway if connected.
/etc/netplan/50-cloud-init.yaml
``` sh
network:
    wifis:
        wlan0:
            dhcp4: true
            dhcp4-overrides:
              route-metric: 100
            optional: true
            access-points:
              "SSID":
                password: "PSK"
    ethernets:
        eth0:
            dhcp4: true
            dhcp4-overrides:
              route-metric: 200
            optional: true
    version: 2
```
/etc/ssh/sshd:
```
X11Forwarding yes
X11UseLocalhost no
```

### Access xarm webUI from different network
If connected to the pi on 192.168.22.199, one can forward the webUI to localhost:8080 with the following:
``` sh
ssh -L 8080:192.168.1.150:18333 ubuntu@192.168.22.199
```

## Moveit2 docs

``` sh

git clone https://github.com/ros-planning/moveit2.git
cd moveit2
git checkout humble

sudo apt-get install doxygen graphviz

DOXYGEN_OUTPUT_DIRECTORY=docs doxygen

firefox docs/index.html

```