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修复rviz位置问题,

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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
This commit is contained in:
zhangshixiang
2025-04-30 22:18:29 +08:00
parent 44c191fe90
commit 5212d2d8eb
8 changed files with 5323 additions and 100 deletions
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102
test/experiments/test.json
View File

@@ -36,6 +36,108 @@
},
"data": {
}
},
{
"id": "ot_joint_publisher",
"name": "ot_joint_publisher",
"sample_id": null,
"children": [
],
"parent": null,
"type": "device",
"class": "lh_joint_publisher",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"lh_id":"deck",
"joint_config":
{
"joint_names":[
"first_joint",
"second_joint",
"third_joint",
"fourth_joint"
],
"y":{
"first_joint":{
"factor":-1,
"offset":0.0
}
},
"x":{
"second_joint":{
"factor":-1,
"offset":0.0
}
},
"z":{
"third_joint":{
"factor":1,
"offset":0.0
},
"fourth_joint":{
"factor":1,
"offset":0.0
}
}
}
},
"data": {}
},
{
"id": "ot_joint_publisher",
"name": "ot_joint_publisher",
"sample_id": null,
"children": [
],
"parent": null,
"type": "device",
"class": "lh_joint_publisher",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"lh_id":"deck",
"joint_config":
{
"joint_names":[
"first_joint",
"second_joint",
"third_joint",
"fourth_joint"
],
"y":{
"first_joint":{
"factor":-1,
"offset":0.0
}
},
"x":{
"second_joint":{
"factor":-1,
"offset":0.0
}
},
"z":{
"third_joint":{
"factor":1,
"offset":0.0
},
"fourth_joint":{
"factor":1,
"offset":0.0
}
}
}
},
"data": {}
}
],
"links": [

6
test/experiments/test_copy.json
View File

@@ -68,8 +68,8 @@
"type": "plate",
"class": "opentrons_96_filtertiprack_1000ul",
"position": {
"x": 132.5,
"y": 271.5,
"x": 0,
"y": 0,
"z": 69
},
"config": {
@@ -99,7 +99,7 @@
"position": {
"x": 10.87,
"y": 70.77,
"z": 3.03
"z": 10
},
"config": {
"type": "TipSpot",