drawing-robot-ros2

Building

Requirements:

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

./rebuild.sh

source src/install/local_setup.bash

Running

Run

ros2 run robot_controller dummy_controller

or

ros2 launch axidraw_controller axidraw_controller

or

ros2 launch lite6_controller lite6_gazebo.launch.py

or

ros2 launch lite6_controller lite6_real.launch.py

or

ros2 launch lite6_controller lite6_real_no_gui.launch.py

And simultaneously (using tmux or another terminal) run

ros2 run drawing_controller drawing_controller src/draw_svg/svg/test.svg

Docker

Build container

bash .docker/build.bash

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.

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