From f3637d4043c81088c90dc3ffa52d19bc7a6bad53 Mon Sep 17 00:00:00 2001 From: q434343 <73513873+q434343@users.noreply.github.com> Date: Wed, 7 May 2025 02:12:29 +0800 Subject: [PATCH 1/2] Device visualization (#22) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> --- test/experiments/plr_test_converted.json | 9590 +++++++++++++++++ test/experiments/test_copy.json | 2 +- unilabos/app/main.py | 4 +- unilabos/device_mesh/__init__.py | 0 unilabos/device_mesh/resource_visalization.py | 18 +- .../ros_dev/liquid_handler_joint_publisher.py | 2 +- .../registry/resources/opentrons/plates.yaml | 4 + .../resources/opentrons/tip_racks.yaml | 2 +- unilabos/resources/graphio.py | 11 +- unilabos/ros/main_slave_run.py | 15 + unilabos/ros/nodes/presets/host_node.py | 3 +- .../nodes/presets/resource_mesh_manager.py | 221 +- unilabos/ros/utils/driver_creator.py | 1 + 13 files changed, 9829 insertions(+), 44 deletions(-) create mode 100644 test/experiments/plr_test_converted.json create mode 100644 unilabos/device_mesh/__init__.py diff --git a/test/experiments/plr_test_converted.json b/test/experiments/plr_test_converted.json new file mode 100644 index 00000000..533d99c3 --- /dev/null +++ b/test/experiments/plr_test_converted.json @@ -0,0 +1,9590 @@ +{ + "nodes": [ + { + "id": "PLR_STATION", + "name": "PLR_LH_TEST", + "parent": null, + "type": "device", + "class": "liquid_handler", + "position": { + "x": 620.6111111111111, + "y": 171, + "z": 0 + }, + "config": { + "data": { + "children": [ + { + "_resource_child_name": "deck", + "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck" + } + ], + "backend": { + "type": "LiquidHandlerRvizBackend" + } + } + }, + "data": {}, + "children": [ + "deck" + ] + }, + { + "id": "deck", + "name": "deck", + "sample_id": null, + "children": [ + "tip_rack", + "plate_well" + ], + "parent": "PLR_STATION", + "type": "deck", + "class": "OTDeck", + 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+ "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_D11", + "name": "plate_well_D11", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 100.87, + "y": 43.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_E11", + "name": "plate_well_E11", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 100.87, + "y": 34.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_F11", + "name": "plate_well_F11", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 100.87, + "y": 25.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_G11", + "name": "plate_well_G11", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 100.87, + "y": 16.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_H11", + "name": "plate_well_H11", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 100.87, + "y": 7.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_A12", + "name": "plate_well_A12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 70.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_B12", + "name": "plate_well_B12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 61.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_C12", + "name": "plate_well_C12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 52.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_D12", + "name": "plate_well_D12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 43.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_E12", + "name": "plate_well_E12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 34.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_F12", + "name": "plate_well_F12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 25.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_G12", + "name": "plate_well_G12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 16.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/test/experiments/test_copy.json b/test/experiments/test_copy.json index 9b1debed..b6ebb516 100644 --- a/test/experiments/test_copy.json +++ b/test/experiments/test_copy.json @@ -99,7 +99,7 @@ "position": { "x": 10.87, "y": 70.77, - "z": 10 + "z": 9.47 }, "config": { "type": "TipSpot", diff --git a/unilabos/app/main.py b/unilabos/app/main.py index f7bd6f20..ebee015e 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -191,7 +191,9 @@ def main(): resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz) args_dict["resources_mesh_config"] = resource_visualization.resource_model start_backend(**args_dict) - server_thread = threading.Thread(target=start_server, args=(not args_dict["disable_browser"],)) + server_thread = threading.Thread(target=start_server, kwargs=dict( + open_browser=not args_dict["disable_browser"] + )) server_thread.start() asyncio.set_event_loop(asyncio.new_event_loop()) resource_visualization.start() diff --git a/unilabos/device_mesh/__init__.py b/unilabos/device_mesh/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py index 0190ba2e..b840789f 100644 --- a/unilabos/device_mesh/resource_visalization.py +++ b/unilabos/device_mesh/resource_visalization.py @@ -10,7 +10,7 @@ from unilabos.registry.registry import lab_registry class ResourceVisualization: - def __init__(self, device: dict, resource: list, enable_rviz: bool = True): + def __init__(self, device: dict, resource: dict, enable_rviz: bool = True): """初始化资源可视化类 该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息, @@ -18,13 +18,13 @@ class ResourceVisualization: Args: device (dict): 设备配置字典,包含设备的类型、位置等信息 - resource (list): 资源配置列表,包含资源的类型、位置等信息 + resource (dict): 资源配置字典,包含资源的类型、位置等信息 registry (dict): 注册表字典,包含设备和资源类型的注册信息 enable_rviz (bool, optional): 是否启用RViz可视化. Defaults to True. """ self.launch_service = LaunchService() self.launch_description = LaunchDescription() - self.resource_list = resource + self.resource_dict = resource self.resource_model = {} self.resource_type = ['deck', 'plate', 'container'] self.mesh_path = Path(__file__).parent.absolute() @@ -64,11 +64,12 @@ class ResourceVisualization: self.resource_model[node['id']] = { 'mesh': f"{str(self.mesh_path)}/resources/{model_config['mesh']}", 'mesh_tf': model_config['mesh_tf']} - if model_config['children_mesh'] is not None: - self.resource_model[f"{node['id']}_"] = { - 'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}", - 'mesh_tf': model_config['children_mesh_tf'] - } + if 'children_mesh' in model_config: + if model_config['children_mesh'] is not None: + self.resource_model[f"{node['id']}_"] = { + 'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}", + 'mesh_tf': model_config['children_mesh_tf'] + } elif model_config['type'] == 'device': new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include") new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro") @@ -76,6 +77,7 @@ class ResourceVisualization: new_dev.set("parent_link", "world") new_dev.set("mesh_path", str(self.mesh_path)) new_dev.set("device_name", node["id"]+"_") + new_dev.set("station_name", node["parent"]+'_') new_dev.set("x",str(float(node["position"]["x"])/1000)) new_dev.set("y",str(float(node["position"]["y"])/1000)) new_dev.set("z",str(float(node["position"]["z"])/1000)) diff --git a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py index 7933f8df..e593f425 100644 --- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py +++ b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py @@ -5,7 +5,7 @@ import time from rclpy.executors import MultiThreadedExecutor from rclpy.action import ActionServer from sensor_msgs.msg import JointState -from ilabos_msgs.action import SendCmd +from unilabos_msgs.action import SendCmd from rclpy.action.server import ServerGoalHandle from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode from tf_transformations import quaternion_from_euler diff --git a/unilabos/registry/resources/opentrons/plates.yaml b/unilabos/registry/resources/opentrons/plates.yaml index c00b2744..3783bc33 100644 --- a/unilabos/registry/resources/opentrons/plates.yaml +++ b/unilabos/registry/resources/opentrons/plates.yaml @@ -39,6 +39,10 @@ nest_96_wellplate_2ml_deep: class: module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_2ml_deep type: pylabrobot + model: + type: resource + mesh: tecan_nested_tip_rack/meshes/plate.stl + mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708] nest_96_wellplate_200ul_flat: description: Nest 96 wellplate 200ul flat diff --git a/unilabos/registry/resources/opentrons/tip_racks.yaml b/unilabos/registry/resources/opentrons/tip_racks.yaml index a605b55f..5fd4b6e4 100644 --- a/unilabos/registry/resources/opentrons/tip_racks.yaml +++ b/unilabos/registry/resources/opentrons/tip_racks.yaml @@ -68,7 +68,7 @@ opentrons_96_filtertiprack_1000ul: mesh: tecan_nested_tip_rack/meshes/plate.stl mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708] children_mesh: generic_labware_tube_10_75/meshes/0_base.stl - children_mesh_tf: [0.0018, 0.0018, 0, -1.5708,0, 0] + children_mesh_tf: [0.0085, 0.006, 0, -1.5708,0, 0] opentrons_96_filtertiprack_20ul: description: Opentrons 96 filtertiprack 20ul diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 71e4aaeb..d6f64e46 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -394,14 +394,14 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR": return resource_plr -def resource_plr_to_ulab(resource_plr: "ResourcePLR"): +def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None): def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict: r = { "id": d["name"], "name": d["name"], "sample_id": None, "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]], - "parent": d["parent_name"] if d["parent_name"] else None, + "parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None, "type": "device", # FIXME plr自带的type是python class name "class": d.get("class", ""), "position": ( @@ -417,6 +417,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR"): d = resource_plr.serialize() all_states = resource_plr.serialize_all_state() r = resource_plr_to_ulab_inner(d, all_states) + return r @@ -451,7 +452,8 @@ def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict] if resource_class_config["type"] == "pylabrobot": resource_plr = RESOURCE(name=resource_config["name"]) - r = resource_plr_to_ulab(resource_plr=resource_plr) + r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None)) + # r = resource_plr_to_ulab(resource_plr=resource_plr) if resource_config.get("position") is not None: r["position"] = resource_config["position"] r = tree_to_list([r]) @@ -475,8 +477,9 @@ def initialize_resources(resources_config) -> list[dict]: """ from unilabos.registry.registry import lab_registry - resources = [] for resource_config in resources_config: + resources.extend(initialize_resource(resource_config, lab_registry)) + return resources diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index fb8598c9..c4c5a172 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -120,6 +120,21 @@ def slave( n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[]) executor.add_node(n) + if visual != "disable": + resource_mesh_manager = ResourceMeshManager( + resources_mesh_config, + resources_config, + resource_tracker= DeviceNodeResourceTracker(), + device_id = 'resource_mesh_manager', + ) + joint_republisher = JointRepublisher( + 'joint_republisher', + DeviceNodeResourceTracker() + ) + + executor.add_node(resource_mesh_manager) + executor.add_node(joint_republisher) + thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread") thread.start() diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 977ab31c..4338872a 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -643,7 +643,8 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources") except Exception as e: self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}") - r = [] + r = [resource for resource in self.resources_config if resource.get("id") == request.id] + self.lab_logger().warning(f"[Host Node-Resource] Retrieved from local: {len(r)} resources") else: # 本地物料服务，根据 id 查询物料 r = [resource for resource in self.resources_config if resource.get("id") == request.id] diff --git a/unilabos/ros/nodes/presets/resource_mesh_manager.py b/unilabos/ros/nodes/presets/resource_mesh_manager.py index 012404b3..2ca8d0fb 100644 --- a/unilabos/ros/nodes/presets/resource_mesh_manager.py +++ b/unilabos/ros/nodes/presets/resource_mesh_manager.py @@ -1,3 +1,4 @@ +from pathlib import Path import time import rclpy,json from rclpy.node import Node @@ -6,7 +7,7 @@ import numpy as np from moveit_msgs.srv import GetPlanningScene, ApplyPlanningScene from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy -from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, AllowedCollisionEntry +from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, AllowedCollisionEntry, RobotState, PlanningScene from shape_msgs.msg import Mesh, MeshTriangle, SolidPrimitive from geometry_msgs.msg import Pose, PoseStamped, Point, Quaternion, TransformStamped from rclpy.callback_groups import ReentrantCallbackGroup @@ -20,6 +21,8 @@ from rclpy.action import ActionServer from unilabos_msgs.action import SendCmd from rclpy.action.server import ServerGoalHandle from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker +from unilabos.resources.graphio import initialize_resources +from unilabos.registry.registry import lab_registry class ResourceMeshManager(BaseROS2DeviceNode): def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50): @@ -51,10 +54,10 @@ class ResourceMeshManager(BaseROS2DeviceNode): self.zero_count = 0 self.old_resource_pose = {} - self.__planning_scene = None + self.__planning_scene = PlanningScene() self.__old_planning_scene = None self.__old_allowed_collision_matrix = None - + self.mesh_path = Path(__file__).parent.parent.parent.parent.absolute() callback_group = ReentrantCallbackGroup() self._get_planning_scene_service = self.create_client( @@ -101,11 +104,18 @@ class ResourceMeshManager(BaseROS2DeviceNode): callback_group=callback_group ) - self.resource_mesh_setup() + # 创建一个Action Server用于添加新的资源模型与resource_tf_dict + self._add_resource_mesh_action_server = ActionServer( + self, + SendCmd, + f"add_resource_mesh", + self.add_resource_mesh_callback, + callback_group=callback_group + ) + + self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict) self.create_timer(1/self.rate, self.publish_resource_tf) self.create_timer(1/self.rate, self.check_resource_pose_changes) - - def check_move_group_ready(self): """检查move_group节点是否已初始化完成""" @@ -113,33 +123,74 @@ class ResourceMeshManager(BaseROS2DeviceNode): # 获取当前可用的节点列表 tf_ready = self.tf_buffer.can_transform("world", next(iter(self.resource_tf_dict.keys())), rclpy.time.Time(),rclpy.duration.Duration(seconds=2)) - + # if tf_ready: if self._get_planning_scene_service.service_is_ready() and self._apply_planning_scene_service.service_is_ready() and tf_ready: self.move_group_ready = True self.publish_resource_tf() - self.add_resource_collision_meshes() + self.add_resource_collision_meshes(self.resource_tf_dict) # time.sleep(1) + + def add_resource_mesh_callback(self, goal_handle : ServerGoalHandle): + tf_update_msg = goal_handle.request + try: + self.add_resource_mesh(tf_update_msg.command) + except Exception as e: + self.get_logger().error(f"添加资源失败: {e}") + goal_handle.abort() + return SendCmd.Result(success=False) + goal_handle.succeed() + return SendCmd.Result(success=True) + + def add_resource_mesh(self,resource_config_str:str): + """刷新资源配置""" + registry = lab_registry + resource_config = json.loads(resource_config_str) + if resource_config['id'] in self.resource_config_dict: + self.get_logger().info(f'资源 {resource_config["id"]} 已存在') + return + if resource_config['class'] in registry.resource_type_registry.keys(): + model_config = registry.resource_type_registry[resource_config['class']]['model'] + if model_config['type'] == 'resource': + self.resource_model[resource_config['id']] = { + 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}", + 'mesh_tf': model_config['mesh_tf']} + if model_config['children_mesh'] is not None: + self.resource_model[f"{resource_config['id']}_"] = { + 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}", + 'mesh_tf': model_config['children_mesh_tf'] + } + resources = initialize_resources([resource_config]) + resource_dict = {item['id']: item for item in resources} + self.resource_config_dict = {**self.resource_config_dict,**resource_dict} + tf_dict = self.resource_mesh_setup(resource_dict) + self.resource_tf_dict = {**self.resource_tf_dict,**tf_dict} + self.publish_resource_tf() + self.add_resource_collision_meshes(tf_dict) - def resource_mesh_setup(self): + + def resource_mesh_setup(self, resource_config_dict:dict): """move_group初始化完成后的设置""" self.get_logger().info('开始设置资源网格管理器') #遍历resource_config中的资源配置，判断panent是否在resource_model中， - - for resource_id, resource_config in self.resource_config_dict.items(): + resource_tf_dict = {} + for resource_id, resource_config in resource_config_dict.items(): parent = resource_config['parent'] parent_link = 'world' if parent in self.resource_model: parent_link = parent elif parent is None and resource_id in self.resource_model: + pass - elif parent not in self.resource_model and parent is not None and resource_config['class'] != '': + elif parent is not None and resource_id in self.resource_model: parent_link = f"{self.resource_config_dict[parent]['parent']}_{parent}_device_link".replace("None","") + else: + continue # 提取位置信息并转换单位 position = { @@ -163,12 +214,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): float(rotation_dict['y']), float(rotation_dict['z']) ) - # print("-"*20) - # print(f"resource_id: {resource_id}") - # print(f"parent: {parent}") - # print(f"resource_config: {resource_config}") - # print(f"parent_link: {parent_link}") - # print("-"*20) + rotation = { "x": q[0], "y": q[1], @@ -177,12 +223,14 @@ class ResourceMeshManager(BaseROS2DeviceNode): } # 更新资源TF字典 - self.resource_tf_dict[resource_id] = { + resource_tf_dict[resource_id] = { "parent": parent_link, "position": position, "rotation": rotation } + return resource_tf_dict + def publish_resource_tf(self): """ @@ -376,7 +424,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): return SendCmd.Result(success=True) - def add_resource_collision_meshes(self): + def add_resource_collision_meshes(self,resource_tf_dict:dict): """ 遍历资源配置字典，为每个在resource_model中有对应模型的资源添加碰撞网格 @@ -384,8 +432,11 @@ class ResourceMeshManager(BaseROS2DeviceNode): 如果有，则调用add_collision_mesh方法将其添加到碰撞环境中。 """ self.get_logger().info('开始添加资源碰撞网格') - - for resource_id, tf_info in self.resource_tf_dict.items(): + + self.__planning_scene = self._get_planning_scene_service.call( + GetPlanningScene.Request() + ).scene + for resource_id, tf_info in resource_tf_dict.items(): if resource_id in self.resource_model: # 获取位置信息 @@ -405,14 +456,14 @@ class ResourceMeshManager(BaseROS2DeviceNode): ) # 添加碰撞网格 - self.add_collision_mesh( + collision_object = self.get_collision_mesh( filepath=self.resource_model[resource_id]['mesh'], id=resource_id, position=position, quat_xyzw=q, frame_id=resource_id ) - + self.__planning_scene.world.collision_objects.append(collision_object) elif f"{tf_info['parent']}_" in self.resource_model: # 获取资源的父级框架ID id_ = f"{tf_info['parent']}_" @@ -433,15 +484,21 @@ class ResourceMeshManager(BaseROS2DeviceNode): ) # 添加碰撞网格 - self.add_collision_mesh( + collision_object = self.get_collision_mesh( filepath=self.resource_model[id_]['mesh'], id=resource_id, position=position, quat_xyzw=q, frame_id=resource_id ) - time.sleep(0.03) + self.__planning_scene.world.collision_objects.append(collision_object) + + req = ApplyPlanningScene.Request() + req.scene = self.__planning_scene + self._apply_planning_scene_service.call_async(req) + + self.get_logger().info('资源碰撞网格添加完成') @@ -637,6 +694,116 @@ class ResourceMeshManager(BaseROS2DeviceNode): operation=operation, ) + def get_collision_mesh( + self, + filepath: Optional[str], + id: str, + pose: Optional[Union[PoseStamped, Pose]] = None, + position: Optional[Union[Point, Tuple[float, float, float]]] = None, + quat_xyzw: Optional[ + Union[Quaternion, Tuple[float, float, float, float]] + ] = None, + frame_id: Optional[str] = None, + operation: int = CollisionObject.ADD, + scale: Union[float, Tuple[float, float, float]] = 1.0, + mesh: Optional[Any] = None, + ): + """ + Add collision object with a mesh geometry. Either `filepath` must be + specified or `mesh` must be provided. + Note: This function required 'trimesh' Python module to be installed. + """ + + # Load the mesh + try: + import trimesh + except ImportError as err: + raise ImportError( + "Python module 'trimesh' not found! Please install it manually in order " + "to add collision objects into the MoveIt 2 planning scene." + ) from err + + # Check the parameters + if (pose is None) and (position is None or quat_xyzw is None): + raise ValueError( + "Either `pose` or `position` and `quat_xyzw` must be specified!" + ) + if (filepath is None and mesh is None) or ( + filepath is not None and mesh is not None + ): + raise ValueError("Exactly one of `filepath` or `mesh` must be specified!") + if mesh is not None and not isinstance(mesh, trimesh.Trimesh): + raise ValueError("`mesh` must be an instance of `trimesh.Trimesh`!") + + if isinstance(pose, PoseStamped): + pose_stamped = pose + elif isinstance(pose, Pose): + pose_stamped = PoseStamped( + header=Header( + stamp=self.get_clock().now().to_msg(), + frame_id=( + frame_id if frame_id is not None else self.__base_link_name + ), + ), + pose=pose, + ) + else: + if not isinstance(position, Point): + position = Point( + x=float(position[0]), y=float(position[1]), z=float(position[2]) + ) + if not isinstance(quat_xyzw, Quaternion): + quat_xyzw = Quaternion( + x=float(quat_xyzw[0]), + y=float(quat_xyzw[1]), + z=float(quat_xyzw[2]), + w=float(quat_xyzw[3]), + ) + pose_stamped = PoseStamped( + header=Header( + stamp=self.get_clock().now().to_msg(), + frame_id=( + frame_id if frame_id is not None else self.__base_link_name + ), + ), + pose=Pose(position=position, orientation=quat_xyzw), + ) + + msg = CollisionObject( + header=pose_stamped.header, + id=id, + operation=operation, + pose=pose_stamped.pose, + ) + + if filepath is not None: + mesh = trimesh.load(filepath) + + # Scale the mesh + if isinstance(scale, float): + scale = (scale, scale, scale) + if not (scale[0] == scale[1] == scale[2] == 1.0): + # If the mesh was passed in as a parameter, make a copy of it to + # avoid transforming the original. + if filepath is not None: + mesh = mesh.copy() + # Transform the mesh + transform = np.eye(4) + np.fill_diagonal(transform, scale) + mesh.apply_transform(transform) + + msg.meshes.append( + Mesh( + triangles=[MeshTriangle(vertex_indices=face) for face in mesh.faces], + vertices=[ + Point(x=vert[0], y=vert[1], z=vert[2]) for vert in mesh.vertices + ], + ) + ) + + # self.__collision_object_publisher.publish(msg) + return msg + def add_collision_mesh( self, filepath: Optional[str], @@ -743,7 +910,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): ], ) ) - + self.__collision_object_publisher.publish(msg) def remove_collision_object(self, id: str): diff --git a/unilabos/ros/utils/driver_creator.py b/unilabos/ros/utils/driver_creator.py index 8e09bb17..1218725e 100644 --- a/unilabos/ros/utils/driver_creator.py +++ b/unilabos/ros/utils/driver_creator.py @@ -6,6 +6,7 @@ """ import asyncio import inspect +import json import traceback from abc import abstractmethod from typing import Type, Any, Dict, Optional, TypeVar, Generic From 83abf877b53d9c19bea0c54f7cff202e8efd49e8 Mon Sep 17 00:00:00 2001 From: wznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 May 2025 02:36:53 +0800 Subject: [PATCH 2/2] fix: multi channel --- unilabos/ros/nodes/base_device_node.py | 22 ++++++++++++++++------ 1 file changed, 16 insertions(+), 6 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 45daf454..078cb470 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -514,20 +514,30 @@ class BaseROS2DeviceNode(Node, Generic[T]): for k, v in goal.get_fields_and_field_types().items(): if v in ["unilabos_msgs/Resource", "sequence"]: self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}") + current_resources = [] try: - r = ResourceGet.Request() - r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"] - r.with_children = True - response = await self._resource_clients["resource_get"].call_async(r) + if len(action_kwargs[k]) > 1: + for i in action_kwargs[k]: + r = ResourceGet.Request() + r.id = i["id"] + r.with_children = True + response = await self._resource_clients["resource_get"].call_async(r) + current_resources.extend(response.resources) + else: + r = ResourceGet.Request() + r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"] + r.with_children = True + response = await self._resource_clients["resource_get"].call_async(r) + current_resources.extend(response.resources) except Exception: logger.error(f"资源查询失败，默认使用本地资源") # 删除对response.resources的检查，因为它总是存在 - resources_list = [convert_from_ros_msg(rs) for rs in response.resources] # type: ignore # FIXME + resources_list = [convert_from_ros_msg(rs) for rs in current_resources] # type: ignore # FIXME self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源") type_hint = action_paramtypes[k] final_type = get_type_class(type_hint) # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换 - final_resource = convert_resources_to_type(resources_list, final_type) + final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list] action_kwargs[k] = self.resource_tracker.figure_resource(final_resource) self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")