drawing-robot-ros2/README.md

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

bash .docker/build.bash

If build fails, consider clearing build cache. Do not run this if you have other docker containers that you care about on your computer.

podman builder prune --all --force

or

docker builder prune --all --force

Run built container

bash .docker/run.bash

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.

Optionally you can pass a directory to the container with

bash .docker/run.bash -v PATH_TO_SVG:/svg:rw

This will mount the given path to /svg in read-write mode in the container.

Podman issues

If using podman instead of docker, using the following will allow the container to access /dev/ which is needed by the axidraw robot.

sudo bash .docker/build.bash

sudo bash .docker/devel.bash

Adding sudo may cause gazebo not to work, so it is recommended to use docker instead of podman.

TODO Building locally

Requirements:

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

./rebuild.sh

source src/install/local_setup.bash

Running

RobotController

One of the following RobotControllers should be started:

DummyController echoes Motion messages to the terminal.

ros2 run robot_controller dummy_controller

AxidrawController

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.

ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0 config:=./config.yaml

Lite6Controller

This starts the simulated lite6

ros2 launch lite6_controller lite6_gazebo.launch.py config:=./config.yaml

This runs the real lite6

ros2 launch lite6_controller lite6_real.launch.py config:=./config.yaml

This runs the real lite6 without Rviz (can be run on headless device over ssh)

ros2 launch lite6_controller lite6_real_no_gui.launch.py config:=./config.yaml

Before using the real lite6, it is recommended to run the calibration program. A lite6_controller must be running for calibration. This can be used to measure the Z height for a specific pen. The program also moves the arm to a known default position.

ros2 run lite6_controller lite6_calibration

Follow the instructions, pressing enter when prompted.

Change the Z-offset value accordingly. Restart the running lite6_controller after calibration.

DrawingController

Once a RobotController is running, simultaneously (using tmux or another terminal) run

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

./setup_ros.sh

This will open a tmux session with the necessary ros2 packages sourced.

Docker container

tmux

If actively

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

Make sure that all shapes in the SVG are within the bounds defined by height and width (or viewbox). Shapes outside of bounds will cause the robot to frequently visit the top left corner and edges of the paper and not draw the desired image.

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".

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

adduser ubuntu dialout #give access to serial devices (axidraw)

Misc commands

apt update
apt install git tmux python3-colcon-ros python3-pip ros-humble-moveit

  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

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:

ssh -L 8080:192.168.1.150:18333 ubuntu@192.168.22.199

Moveit2 docs

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