Add shape drawing modules

[csharon0218]

Overview
This PR refactors traj_pub_node.py by separating kinematics, IK, and trajectory generation logic into dedicated Python modules.

• omx_drawing_shape.py: Implements a ROS 2 node for OMX that generates predefined shape trajectories (circle, rectangle, heart), solves inverse kinematics using a DLS-based solver, and publishes joint trajectories to the controller.

[gemini-code-assist]

Summary of Changes

Hello @csharon0218, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly enhances the open_manipulator_playground by restructuring the robotic arm control logic. It extracts kinematics, inverse kinematics, and trajectory generation into dedicated, reusable Python modules. This change streamlines the main ROS2 node, making it primarily responsible for execution flow and parameter management, while delegating complex calculations to specialized components. The result is a more organized, maintainable, and extensible system for controlling the robot's end-effector to draw various shapes.

Highlights

• Modular Refactoring: The traj_pub_node.py has been refactored to separate kinematics, inverse kinematics, and trajectory generation logic into dedicated Python modules, enhancing code organization and maintainability.
• Kinematics Module: A new module, traj_kinematics.py, has been introduced to handle URDF-based Forward Kinematics (FK), Jacobian calculations, and essential rotation mathematical utilities (RPY, quaternion, skew, log map).
• Inverse Kinematics Solver: The traj_ik.py module has been added, providing a Damped Least Squares (DLS) Inverse Kinematics (IK) solver with configurable parameters via an IKConfig dataclass.
• Task-Space Trajectory Generators: A new module, traj_traj.py, now contains functions for generating various task-space trajectories, including circles, rectangles (with rounded corners), and heart shapes.
• Enhanced Trajectory Node: traj_pub_node.py now serves as the central ROS2 node, orchestrating the use of the new kinematics, IK, and trajectory modules, and includes interactive parameter configuration for trajectory modes and IK settings.

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Changelog

• open_manipulator_playground/src/traj_ik.py
  • Added a new Python module for Damped Least Squares (DLS) inverse kinematics solving.
  • Introduced an IKConfig dataclass to manage configurable IK parameters such as damping, step scale, and tolerances.
• open_manipulator_playground/src/traj_kinematics.py
  • Added a new Python module containing mathematical utilities for rotation conversions (RPY to rotation, quaternion to rotation, rotation to quaternion, skew, rotation log map).
  • Implemented the SimpleURDFChain class for parsing URDF and performing forward kinematics (FK) and Jacobian calculations for a robot chain.
• open_manipulator_playground/src/traj_pub_node.py
  • Refactored the main ROS2 node to import and utilize the newly created traj_kinematics, traj_ik, and traj_traj modules.
  • Updated parameter declarations to support a wide range of IK and trajectory settings, including interactive configuration options.
  • Modified the control loop (_tick_cb) to compute target end-effector positions using traj_traj, solve for joint angles using traj_ik, and publish these as joint trajectories.
  • Added debug publishers for visualizing end-effector feedback and target positions.
• open_manipulator_playground/src/traj_traj.py
  • Added a new Python module dedicated to generating 2D task-space trajectory points for various shapes.
  • Included functions for circle_point, heart_point, and rectangle_point (supporting rounded corners).
  • Provided a plane_embed utility to project 2D trajectory points into 3D space based on a specified plane (XY, XZ, or YZ).

Activity

• The pull request was created by csharon0218.
• No reviews or comments have been made yet.

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[gemini-code-assist]

Code Review

This pull request is a great refactoring effort, separating concerns into dedicated modules for kinematics, inverse kinematics, and trajectory generation. The code is well-structured and the new modules are clear.

My review focuses on a few key areas:

• Correctness: I found a critical bug in the Jacobian calculation that doesn't handle prismatic joints, and a numerical instability in the rot_log function.
• Security: There's a potential DoS vulnerability from parsing URDF XML with the standard library.
• Maintainability: I've pointed out a few places where code can be made more robust (e.g., exception handling) and more readable by removing redundant type casts.

Overall, this is a solid contribution. Addressing these points will make the code more robust and maintainable.

[sunghowoo]

• It looks like copy light support should be added.
• A package version update may be necessary.
• There appear to be too many files; merging related files could improve maintainability.
• Explicitly including the OMX model in the naming would improve clarity.

[yun-goon]

There are unnecessary install, log folders.
Please check the EOF.

[yun-goon]

Good!

[sunghowoo]

This PR has been replaced by the Cyclo Control drawing demo, so I will close it.