279 lines
8.1 KiB
Markdown
279 lines
8.1 KiB
Markdown
# drawing-robot-ros2
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This repository contains ROS2 packages which make up a system used for drawing SVG images on different robots.
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These packages are in 'src/'.
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Documentation and build scripts for the entire project are at the top level.
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The simplest way to run the project currently is by building and running the docker container.
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## Docker
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### Build container
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``` sh
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bash .docker/build.bash
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```
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### Run built container
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``` sh
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bash .docker/run.bash
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```
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If active changes are being made, run:
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``` sh
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bash .docker/devel.bash
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```
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This will mount the host `drawing-robot-ros2` directory in the container at `src/drawing-robot-ros2`.
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## TODO Building locally
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Requirements:
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- python3-pip
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- python3-pil.imagetk
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- ros-humble-moveit
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- ros-humble-ros-gz
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- ignition-fortress
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``` sh
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./rebuild.sh
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```
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``` sh
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source src/install/local_setup.bash
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```
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## Running
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### RobotController
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One of the following RobotControllers should be started:
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DummyController echoes Motion messages to the terminal.
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``` sh
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ros2 run robot_controller dummy_controller
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```
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AxidrawController draws on the axidraw robot
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``` sh
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ros2 launch axidraw_controller axidraw_controller
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```
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This starts the simulated lite6
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``` sh
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ros2 launch lite6_controller lite6_gazebo.launch.py
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```
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This runs the real lite6
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``` sh
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ros2 launch lite6_controller lite6_real.launch.py
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```
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This runs the real lite6 without Rviz (can be run on headless device over ssh)
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``` sh
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ros2 launch lite6_controller lite6_real_no_gui.launch.py
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```
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### DrawingController
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Once a RobotController is running, simultaneously (using tmux or another terminal) run
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``` sh
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ros2 run drawing_controller drawing_controller svg/test.svg
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```
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This will draw the svg image given as the last argument.
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## SVG compatibility info
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Tested with SVG from the following programs
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- Inkscape
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- Inkpad
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- Affinitydraw
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- vtracer
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Delimiter characters seem to vary somewhat.
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The following examples work:
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TODO ADD EXAMPLES OF SVG PATHS
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The following SVG primitives are supported:
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| Primitive | Support |
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|-------------------------------------|----------|
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| a | no |
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| animate | no |
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| animateMotion | no |
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| animateTransform | no |
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| circle | no |
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| clipPath | no |
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| defs | no |
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| desc | no |
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| discard | no |
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| ellipse | no |
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| feBlend | no |
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| feColorMatrix | no |
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| feComponentTransfer | no |
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| feComposite | no |
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| feConvolveMatrix | no |
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| feDiffuseLighting | no |
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| feDisplacementMap | no |
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| feDistantLight | no |
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| feDropShadow | no |
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| feFlood | no |
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| feFuncA | no |
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| feFuncB | no |
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| feFuncG | no |
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| feFuncR | no |
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| feGaussianBlur | no |
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| feImage | no |
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| feMerge | no |
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| feMergeNode | no |
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| feMorphology | no |
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| feOffset | no |
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| fePointLight | no |
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| feSpecularLighting | no |
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| feSpotLight | no |
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| feTile | no |
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| feTurbulence | no |
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| filter | no |
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| foreignObject | no |
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| g | yes |
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| hatch | no |
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| hatchpath | no |
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| image | no |
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| line | yes |
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| linearGradient | no |
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| marker | no |
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| mask | no |
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| metadata | no |
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| mpath | no |
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| path | partial |
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| pattern | no |
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| polygon | yes |
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| polyline | yes |
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| radialGradient | no |
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| rect | no |
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| script | no |
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| set | no |
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| stop | no |
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| style | no |
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| svg | no |
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| switch | no |
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| symbol | no |
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| text | no |
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| textPath | no |
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| title | no |
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| tspan | no |
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| use | no |
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| view | no |
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And the following SVG path commands are supported:
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| Command type | Supported | Unsupported |
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|------------------------|-------------------|-------------|
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| MoveTo | M, m | |
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| LineTo | L, l, H, h, V, v | |
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| Cubic Bézier Curve | C, c, S, s | |
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| Quadratic Bézier Curve | | Q, q, T, t |
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| Elliptical Arc Curve | | A, a |
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| ClosePath | Z, z | |
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## Axidraw concerns
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## xArm concerns
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TODO make TCP height diagram
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The following paths work, notic
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## Creating compatible SVG images
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https://github.com/visioncortex/vtracer
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Use single layer (g) SVGs
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## ROS2 rpi4
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https://github.com/ros-realtime/ros-realtime-rpi4-image/releases
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After unpacking the tar file, flash it to sd card.
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Log in with "ubuntu:ubuntu".
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``` sh
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sudo -i
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loadkeys fi
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passwd ubuntu #change from default 'ubuntu' to '1234'
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apt-mark hold $(uname -r) linux-firmware u-boot-rpi u-boot-tools #prevent kernel updates
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apt-mark hold libraspberrypi-bin libraspberrypi-dev libraspberrypi-doc libraspberrypi0
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apt-mark hold raspberrypi-bootloader raspberrypi-kernel raspberrypi-kernel-headers
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apt update && apt upgrade
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apt install ros-dev-tools
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```
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``` sh
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adduser ubuntu dialout #give access to serial devices (axidraw)
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```
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### Misc commands
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``` sh
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apt update
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apt install git tmux python3-colcon-ros python3-pip ros-humble-moveit
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```
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``` sh
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apt install colcon
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apt search colcon
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apt install ros-dev-tools
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vi /etc/issue
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systemctl stop wpa_supplicant
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wpa_supplicant -B -i wlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf
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wpa_cli
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ip link set wlan0 up
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wpa_cli
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dhclient wlan0
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ping google.com
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apt install ros-galactic-moveit
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apt install xauth
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vim /etc/ssh/sshd_config
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systemctl restart sshd
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colcon build --packages-select robot_interfaces robot_controller
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```
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sets priority for wlan0; uses it as gateway if connected.
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/etc/netplan/50-cloud-init.yaml
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``` sh
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network:
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wifis:
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wlan0:
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dhcp4: true
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dhcp4-overrides:
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route-metric: 100
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optional: true
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access-points:
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"SSID":
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password: "PSK"
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ethernets:
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eth0:
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dhcp4: true
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dhcp4-overrides:
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route-metric: 200
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optional: true
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version: 2
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```
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/etc/ssh/sshd:
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```
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X11Forwarding yes
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X11UseLocalhost no
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```
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### Access xarm webUI from different network
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If connected to the pi on 192.168.22.199, one can forward the webUI to localhost:8080 with the following:
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``` sh
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ssh -L 8080:192.168.1.150:18333 ubuntu@192.168.22.199
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```
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## Moveit2 docs
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``` sh
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git clone https://github.com/ros-planning/moveit2.git
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cd moveit2
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git checkout humble
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sudo apt-get install doxygen graphviz
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DOXYGEN_OUTPUT_DIRECTORY=docs doxygen
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firefox docs/index.html
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```
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