nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
Files
dev
drawing-robot-ros2/README.md
Nicolas Hiillos edcdcb9131 Update mount to rw
2023-04-28 13:09:46 +03:00

342 lines
10 KiB
Markdown
Raw Permalink Blame History

# 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
```
If build fails, consider clearing build cache.
Do not run this if you have other docker containers that you care about on your computer.
``` sh
podman builder prune --all --force
```
or
``` sh
docker builder prune --all --force
```
### 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`.
Optionally you can pass a directory to the container with
``` sh
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.
``` sh
sudo bash .docker/build.bash
```
``` sh
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
``` 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
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.launch.py serial_port:=/dev/ttyACM0 config:=./config.yaml
```
### Lite6Controller
This starts the simulated lite6
``` sh
ros2 launch lite6_controller lite6_gazebo.launch.py config:=./config.yaml
```
This runs the real lite6
``` sh
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)
``` sh
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.
``` sh
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
``` sh
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
- 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".
``` 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
```
Reference in New Issue View Git Blame Copy Permalink