open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 04:51:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

tijiao

Browse Source
This commit is contained in:
zhangshixiang
2025-05-07 04:04:42 +08:00
parent da50e435c1
commit 42f0994147
2 changed files with 23 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
unilabos/device_mesh/view_robot.rviz
View File

@@ -352,18 +352,18 @@ Visualization Manager:
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 0.3028717339038849 X: 0.29730814695358276
Y: 0.19851508736610413 Y: 0.21228469908237457
Z: 0.25103560090065 Z: 0.20008830726146698
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.2897956669330597 Pitch: 0.38979560136795044
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 0.4607405960559845 Yaw: 0.06074193865060806
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:

18
unilabos/ros/nodes/presets/resource_mesh_manager.py
View File

@@ -383,6 +383,10 @@ class ResourceMeshManager(BaseROS2DeviceNode):
try: try:
cmd_dict = json.loads(tf_update_msg.command.replace("'",'"')) cmd_dict = json.loads(tf_update_msg.command.replace("'",'"'))
self.__planning_scene = self._get_planning_scene_service.call(
GetPlanningScene.Request()
).scene
for resource_id, target_parent in cmd_dict.items(): for resource_id, target_parent in cmd_dict.items():
# 获取从resource_id到target_parent的转换 # 获取从resource_id到target_parent的转换
@@ -412,8 +416,20 @@ class ResourceMeshManager(BaseROS2DeviceNode):
"rotation": rotation "rotation": rotation
} }
self.attach_collision_object(id=resource_id,link_name=target_parent) # self.attach_collision_object(id=resource_id,link_name=target_parent)
collision_object = AttachedCollisionObject(
id=resource_id,
link_name=target_parent,
object=CollisionObject(
id=resource_id,
operation=CollisionObject.ADD
)
)
self.__planning_scene.robot_state.attached_collision_objects.append(collision_object)
req = ApplyPlanningScene.Request()
req.scene = self.__planning_scene
self._apply_planning_scene_service.call_async(req)
self.publish_resource_tf() self.publish_resource_tf()
except Exception as e: except Exception as e: