diff --git a/unilabos/devices/ros_dev/lh_joint_config.json b/unilabos/devices/ros_dev/lh_joint_config.json index 6fb8c1f2..3f316f55 100644 --- a/unilabos/devices/ros_dev/lh_joint_config.json +++ b/unilabos/devices/ros_dev/lh_joint_config.json @@ -1,30 +1,36 @@ { - "OTdeck":{ + "OTDeck":{ "joint_names":[ "first_joint", "second_joint", "third_joint", "fourth_joint" ], + "link_names":[ + "first_link", + "second_link", + "third_link", + "fourth_link" + ], "y":{ "first_joint":{ - "factor":-1, - "offset":0.0 + "factor":-0.001, + "offset":0.163 } }, "x":{ "second_joint":{ - "factor":-1, - "offset":0.0 + "factor":-0.001, + "offset":0.1775 } }, "z":{ "third_joint":{ - "factor":1, + "factor":0.001, "offset":0.0 }, "fourth_joint":{ - "factor":1, + "factor":0.001, "offset":0.0 } } diff --git a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py index 3f160070..9a1f1f04 100644 --- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py +++ b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py @@ -1,4 +1,7 @@ +import asyncio import copy +from pathlib import Path +import threading import rclpy import json import time @@ -15,7 +18,7 @@ from rclpy.node import Node import re class LiquidHandlerJointPublisher(BaseROS2DeviceNode): - def __init__(self,resource_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher"): + def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher"): super().__init__( driver_instance=self, device_id=device_id, @@ -28,8 +31,8 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode): # 初始化参数 self.j_msg = JointState() - joint_config = json.load(open('./lh_joint_config.json', encoding="utf-8")) - self.resource_config = resource_config + joint_config = json.load(open(f"{Path(__file__).parent.absolute()}/lh_joint_config.json", encoding="utf-8")) + self.resources_config = {x['id']:x for x in resources_config} self.rate = rate self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) @@ -50,7 +53,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode): self.deck_list = [] self.lh_devices = {} # 初始化设备ID与config信息 - for resource in resource_config: + for resource in resources_config: if resource['class'] == 'liquid_handler': deck_id = resource['config']['data']['children'][0]['_resource_child_name'] deck_class = resource['config']['data']['children'][0]['_resource_type'].split(':')[-1] @@ -96,13 +99,15 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode): def find_resource_parent(self, resource_id:str): # 遍历父辈，找到父辈的父辈，直到找到设备ID - parent_id = self.resource_config[resource_id]['parent'] + parent_id = self.resources_config[resource_id]['parent'] try: if parent_id in self.deck_list: - return f'{self.resource_config[parent_id]['parent']}_{parent_id}' + p_ = self.resources_config[parent_id]['parent'] + str_ = f'{p_}_{parent_id}' + return str(str_) else: - self.find_resource_parent(parent_id) - except: + return self.find_resource_parent(parent_id) + except Exception as e: return None @@ -156,10 +161,13 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode): goal_handle.succeed() except Exception as e: - print(e) + print(f'Liquid handler action error: \n{e}') goal_handle.abort() result.success = False - + + print('='*20) + print(result) + print('='*20) return result def inverse_kinematics(self, x, y, z, parent_id, @@ -198,36 +206,40 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode): index = self.lh_devices[parent_id]['joint_msg'].name.index(f"{parent_id}_{joint_name}") joint_positions[index] = z * config["factor"] + config["offset"] z_index = index - + return joint_positions ,z_index - def move_joints(self, resource_names, speed,x,y,z,option, x_joint=None, y_joint=None, z_joint=None): + def move_joints(self, resource_names, x, y, z, option, speed = 0.1 ,x_joint=None, y_joint=None, z_joint=None): if isinstance(resource_names, list): resource_name_ = resource_names[0] else: resource_name_ = resource_names + parent_id = self.find_resource_parent(resource_name_) - if x_joint is None: - x_joint_config = next(iter(self.lh_devices[parent_id]['x'].items())) - elif x_joint in self.lh_devices[parent_id]['x']: - x_joint_config = self.lh_devices[parent_id]['x'][x_joint] + xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items())) + x_joint_config = {xa:xb} + elif x_joint in self.lh_devices[parent_id]['joint_config']['x']: + x_joint_config = self.lh_devices[parent_id]['joint_config']['x'][x_joint] else: raise ValueError(f"x_joint {x_joint} not in joint_config['x']") if y_joint is None: - y_joint_config = next(iter(self.lh_devices[parent_id]['y'].items())) - elif y_joint in self.lh_devices[parent_id]['y']: - y_joint_config = self.lh_devices[parent_id]['y'][y_joint] + ya,yb = next(iter(self.lh_devices[parent_id]['joint_config']['y'].items())) + y_joint_config = {ya:yb} + elif y_joint in self.lh_devices[parent_id]['joint_config']['y']: + y_joint_config = self.lh_devices[parent_id]['joint_config']['y'][y_joint] else: raise ValueError(f"y_joint {y_joint} not in joint_config['y']") if z_joint is None: - z_joint_config = next(iter(self.lh_devices[parent_id]['z'].items())) - elif z_joint in self.lh_devices[parent_id]['z']: - z_joint_config = self.lh_devices[parent_id]['z'][z_joint] + za, zb = next(iter(self.lh_devices[parent_id]['joint_config']['z'].items())) + z_joint_config = {za :zb} + elif z_joint in self.lh_devices[parent_id]['joint_config']['z']: + z_joint_config = self.lh_devices[parent_id]['joint_config']['z'][z_joint] else: raise ValueError(f"z_joint {z_joint} not in joint_config['z']") + joint_positions_target, z_index = self.inverse_kinematics(x,y,z,parent_id,x_joint_config,y_joint_config,z_joint_config) joint_positions_target_zero = copy.deepcopy(joint_positions_target) joint_positions_target_zero[z_index] = 0 @@ -235,10 +247,13 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode): self.move_to(joint_positions_target_zero, speed, parent_id) self.move_to(joint_positions_target, speed, parent_id) if option == "pick": - link_name = self.lh_devices[parent_id]['joint_msg'].name[z_index] + link_name = self.lh_devices[parent_id]['joint_config']['link_names'][z_index] + link_name = f'{parent_id}_{link_name}' self.resource_move(resource_name_, link_name, [0,1,2,3,4,5,6,7]) + time.sleep(1) elif option == "drop": self.resource_move(resource_name_, "world", [0,1,2,3,4,5,6,7]) + time.sleep(1) self.move_to(joint_positions_target_zero, speed, parent_id) @@ -307,14 +322,59 @@ class JointStatePublisher(Node): return None - def send_resource_action(self, resource_id_list:list[str], link_name:str): + def send_resource_action(self, resource_name, x,y,z,option, speed = 0.1,x_joint=None, y_joint=None, z_joint=None): goal_msg = SendCmd.Goal() - str_dict = {} - for resource in resource_id_list: - str_dict[resource] = link_name + str_dict = { + 'resource_names':resource_name, + 'x':x, + 'y':y, + 'z':z, + 'option':option, + 'speed':speed, + 'x_joint':x_joint, + 'y_joint':y_joint, + 'z_joint':z_joint + } + goal_msg.command = json.dumps(str_dict) - self.lh_action_client.send_goal_async(goal_msg) + + if not self.lh_action_client.wait_for_server(timeout_sec=5.0): + self.get_logger().error('Action server not available') + return None + + try: + # 创建新的executor + executor = rclpy.executors.SingleThreadedExecutor() + executor.add_node(self) + + # 发送目标 + future = self.lh_action_client.send_goal_async(goal_msg) + + # 使用executor等待结果 + while not future.done(): + executor.spin_once(timeout_sec=0.1) + + handle = future.result() + + if not handle.accepted: + self.get_logger().error('Goal was rejected') + return None + + # 等待最终结果 + result_future = handle.get_result_async() + while not result_future.done(): + executor.spin_once(timeout_sec=0.1) + + result = result_future.result() + return result + + except Exception as e: + self.get_logger().error(f'Error during action execution: {str(e)}') + return None + finally: + # 清理executor + executor.remove_node(self) def main(): diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 9621b5de..242d5a1a 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -9,7 +9,7 @@ try: from pylabrobot.resources.resource import Resource as ResourcePLR except ImportError: pass - +from typing import Union, get_origin, get_args physical_setup_graph: nx.Graph = None @@ -297,7 +297,6 @@ def nested_dict_to_list(nested_dict: dict) -> list[dict]: # FIXME 是tree？ return result - def convert_resources_to_type( resources_list: list[dict], resource_type: type, *, plr_model: bool = False ) -> Union[list[dict], dict, None, "ResourcePLR"]: @@ -319,9 +318,15 @@ def convert_resources_to_type( return resource_ulab_to_plr(resources_list, plr_model) resources_tree = dict_to_tree({r["id"]: r for r in resources_list}) return resource_ulab_to_plr(resources_tree[0], plr_model) - elif isinstance(resource_type, list) and all(issubclass(t, ResourcePLR) for t in resource_type): - resources_tree = dict_to_tree({r["id"]: r for r in resources_list}) - return [resource_ulab_to_plr(r, plr_model) for r in resources_tree] + elif isinstance(resource_type, list) : + if all((get_origin(t) is Union) for t in resource_type): + resources_tree = dict_to_tree({r["id"]: r for r in resources_list}) + return [resource_ulab_to_plr(r, plr_model) for r in resources_tree] + elif all(issubclass(t, ResourcePLR) for t in resource_type): + resources_tree = dict_to_tree({r["id"]: r for r in resources_list}) + return [resource_ulab_to_plr(r, plr_model) for r in resources_tree] + + else: return None @@ -342,9 +347,13 @@ def convert_resources_from_type(resources_list, resource_type: type) -> Union[li elif isinstance(resource_type, type) and issubclass(resource_type, ResourcePLR): resources_tree = [resource_plr_to_ulab(resources_list)] return tree_to_list(resources_tree) - elif isinstance(resource_type, list) and all(issubclass(t, ResourcePLR) for t in resource_type): - resources_tree = [resource_plr_to_ulab(r) for r in resources_list] - return tree_to_list(resources_tree) + elif isinstance(resource_type, list) : + if all((get_origin(t) is Union) for t in resource_type): + resources_tree = [resource_plr_to_ulab(r) for r in resources_list] + return tree_to_list(resources_tree) + elif all(issubclass(t, ResourcePLR) for t in resource_type): + resources_tree = [resource_plr_to_ulab(r) for r in resources_list] + return tree_to_list(resources_tree) else: return None diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index c4c5a172..4f78b1c9 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -9,6 +9,7 @@ import rclpy from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker +from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore from rclpy.executors import MultiThreadedExecutor @@ -72,16 +73,18 @@ def main( resource_mesh_manager = ResourceMeshManager( resources_mesh_config, resources_config, - resource_tracker= DeviceNodeResourceTracker(), + resource_tracker = host_node.resource_tracker, device_id = 'resource_mesh_manager', ) joint_republisher = JointRepublisher( 'joint_republisher', - DeviceNodeResourceTracker() + host_node.resource_tracker ) executor.add_node(resource_mesh_manager) executor.add_node(joint_republisher) + lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker) + executor.add_node(lh_joint_pub) thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread") thread.start() diff --git a/unilabos/ros/nodes/presets/resource_mesh_manager.py b/unilabos/ros/nodes/presets/resource_mesh_manager.py index b8ed3257..0ceb5807 100644 --- a/unilabos/ros/nodes/presets/resource_mesh_manager.py +++ b/unilabos/ros/nodes/presets/resource_mesh_manager.py @@ -91,6 +91,9 @@ class ResourceMeshManager(BaseROS2DeviceNode): self.__collision_object_publisher = self.create_publisher( CollisionObject, "/collision_object", 10 ) + self.__planning_scene_publisher = self.create_publisher( + PlanningScene, "/planning_scene", 10 + ) self.__attached_collision_object_publisher = self.create_publisher( AttachedCollisionObject, "/attached_collision_object", 0 ) @@ -145,7 +148,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): """刷新资源配置""" registry = lab_registry - resource_config = json.loads(resource_config_str) + resource_config = json.loads(resource_config_str.replace("'",'"')) if resource_config['id'] in self.resource_config_dict: self.get_logger().info(f'资源 {resource_config["id"]} 已存在') @@ -377,14 +380,15 @@ class ResourceMeshManager(BaseROS2DeviceNode): def tf_update(self, goal_handle : ServerGoalHandle): tf_update_msg = goal_handle.request - # 获取调用节点的信息 - try: cmd_dict = json.loads(tf_update_msg.command.replace("'",'"')) self.__planning_scene = self._get_planning_scene_service.call( GetPlanningScene.Request() ).scene self.__planning_scene.is_diff = True + planning_scene = PlanningScene() + planning_scene.is_diff = True + planning_scene.robot_state.is_diff = True for resource_id, target_parent in cmd_dict.items(): # 获取从resource_id到target_parent的转换 @@ -415,9 +419,32 @@ class ResourceMeshManager(BaseROS2DeviceNode): } - self.attach_collision_object(id=resource_id,link_name=target_parent) + # self.attach_collision_object(id=resource_id,link_name=target_parent) + # time.sleep(0.02) + operation_attach = CollisionObject.ADD + operation_remove = CollisionObject.REMOVE + if target_parent == 'world': + operation_attach = CollisionObject.REMOVE + operation_remove = CollisionObject.ADD + + remove_object = CollisionObject( + id=resource_id, + operation=operation_remove + ) + planning_scene.world.collision_objects.append(remove_object) + + + collision_object = AttachedCollisionObject( + object=CollisionObject( + id=resource_id, + operation=operation_attach + ) + ) + if target_parent != 'world': + collision_object.link_name = target_parent + planning_scene.robot_state.attached_collision_objects.append(collision_object) + # collision_object = AttachedCollisionObject( - # id=resource_id, # link_name=target_parent, # object=CollisionObject( # id=resource_id, @@ -426,9 +453,12 @@ class ResourceMeshManager(BaseROS2DeviceNode): # ) # 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) + req = ApplyPlanningScene.Request() + req.scene = planning_scene + self._apply_planning_scene_service.call_async(req) + self.__planning_scene_publisher.publish(planning_scene) + + # self.__collision_object_publisher.publish(CollisionObject()) self.publish_resource_tf() except Exception as e: @@ -452,6 +482,8 @@ class ResourceMeshManager(BaseROS2DeviceNode): self.__planning_scene = self._get_planning_scene_service.call( GetPlanningScene.Request() ).scene + planning_scene = PlanningScene() + planning_scene.is_diff = True for resource_id, tf_info in resource_tf_dict.items(): if resource_id in self.resource_model: @@ -479,7 +511,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): quat_xyzw=q, frame_id=resource_id ) - self.__planning_scene.world.collision_objects.append(collision_object) + 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']}_" @@ -508,12 +540,13 @@ class ResourceMeshManager(BaseROS2DeviceNode): frame_id=resource_id ) - self.__planning_scene.world.collision_objects.append(collision_object) + planning_scene.world.collision_objects.append(collision_object) req = ApplyPlanningScene.Request() - req.scene = self.__planning_scene + req.scene = planning_scene self._apply_planning_scene_service.call_async(req) - + self.__planning_scene_publisher.publish(planning_scene) + self.publish_resource_tf() self.get_logger().info('资源碰撞网格添加完成')