From 5668310401170e0c3ae85414f8dadae96edec7c4 Mon Sep 17 00:00:00 2001 From: zhangshixiang <@zhangshixiang> Date: Fri, 2 May 2025 07:40:28 +0800 Subject: [PATCH] =?UTF-8?q?=E5=9C=A8main=E4=B8=AD=E7=9B=B4=E6=8E=A5?= =?UTF-8?q?=E5=88=9D=E5=A7=8B=E5=8C=96republisher=E5=92=8C=E7=89=A9?= =?UTF-8?q?=E6=96=99=E7=9A=84mesh=E8=8A=82=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/app/main.py | 73 +- unilabos/device_mesh/resource_visalization.py | 4 - unilabos/devices/ros_dev/joint_republisher.py | 60 - .../devices/ros_dev/resource_mesh_manager.py | 4962 ----------------- unilabos/registry/devices/sim_nodes.yaml | 10 - unilabos/ros/main_slave_run.py | 15 +- .../nodes/presets/resource_mesh_manager.py | 79 +- 7 files changed, 65 insertions(+), 5138 deletions(-) delete mode 100644 unilabos/devices/ros_dev/joint_republisher.py delete mode 100644 unilabos/devices/ros_dev/resource_mesh_manager.py diff --git a/unilabos/app/main.py b/unilabos/app/main.py index d5e37d8a..1fe51c93 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -10,6 +10,9 @@ import yaml from copy import deepcopy import threading +import rclpy +from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker + # 首先添加项目根目录到路径 current_dir = os.path.dirname(os.path.abspath(__file__)) ilabos_dir = os.path.dirname(os.path.dirname(current_dir)) @@ -19,6 +22,10 @@ if ilabos_dir not in sys.path: from unilabos.config.config import load_config, BasicConfig, _update_config_from_env from unilabos.utils.banner_print import print_status, print_unilab_banner from unilabos.device_mesh.resource_visalization import ResourceVisualization +from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher +from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager +from rclpy.executors import MultiThreadedExecutor + def parse_args(): """解析命令行参数""" @@ -184,8 +191,29 @@ def main(): elif args_dict["visual"] == "web": enable_rviz=False resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz) - devices_config_add = add_resource_mesh_manager_node(resource_visualization.resource_model, args_dict["resources_config"]) - args_dict["devices_config"] = {**args_dict["devices_config"], **devices_config_add} + + # 如果没有初始化，则初始化ros，并创建一个多线程执行器 + # 在main_slave_run.py中也会初始化ros，并创建一个多线程执行器 + # 所以这里需要判断是否已经初始化，如果已经初始化，则不重复初始化 + if not rclpy.ok(): + rclpy.init(args = ["--log-level", "debug"],) + executor = rclpy.__executor + if not executor: + executor = rclpy.__executor = MultiThreadedExecutor() + + resource_mesh_manager = ResourceMeshManager( + resource_visualization.resource_model, + args_dict["resources_config"], + resource_tracker= DeviceNodeResourceTracker(), + device_id = 'resource_mesh_manager', + ) + joint_republisher = JointRepublisher( + 'joint_republisher', + DeviceNodeResourceTracker() + ) + + rclpy.__executor.add_node(resource_mesh_manager) + rclpy.__executor.add_node(joint_republisher) start_backend(**args_dict) server_thread = threading.Thread(target=start_server) server_thread.start() @@ -197,47 +225,6 @@ def main(): start_backend(**args_dict) start_server() -def add_resource_mesh_manager_node( - resource_model, - resource_config , - mesh_manager_device_id = "resource_mesh_manager", - joint_publisher_device_id = "joint_republisher"): - mesh_manager_config ={ - "id": mesh_manager_device_id, - "name": mesh_manager_device_id, - "children": [], - "parent": None, - "type": "device", - "class": "resource.mesh_manager", - "position": { - "x": 620.6111111111111, - "y": 171, - "z": 0 - }, - "config": { - "resource_model": resource_model, - "resource_config": resource_config - }, - "data": { - } - } - joint_publisher_config = { - "id": joint_publisher_device_id, - "name": joint_publisher_device_id, - "children": [], - "parent": None, - "type": "device", - "class": "joint_republisher", - "position": { - "x": 620.6111111111111, - "y": 171, - "z": 0 - }, - "config": {}, - "data": {} - } - return {joint_publisher_config["id"]: joint_publisher_config,mesh_manager_config["id"]: mesh_manager_config} - # return {joint_publisher_config["id"]: joint_publisher_config} if __name__ == "__main__": main() diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py index 876437fa..2ec28b01 100644 --- a/unilabos/device_mesh/resource_visalization.py +++ b/unilabos/device_mesh/resource_visalization.py @@ -52,10 +52,6 @@ class ResourceVisualization: device_class = node['class'] # 检查设备类型是否在注册表中 if device_class not in registry.device_type_registry.keys(): - print("="*20) - print(device_class) - print(registry.device_type_registry.keys()) - print("="*20) raise ValueError(f"设备类型 {device_class} 未在注册表中注册") elif node['type'] in self.resource_type: # print(registry.resource_type_registry) diff --git a/unilabos/devices/ros_dev/joint_republisher.py b/unilabos/devices/ros_dev/joint_republisher.py deleted file mode 100644 index b731acc7..00000000 --- a/unilabos/devices/ros_dev/joint_republisher.py +++ /dev/null @@ -1,60 +0,0 @@ -import rclpy,json -from rclpy.node import Node -from sensor_msgs.msg import JointState -from std_msgs.msg import String -from rclpy.callback_groups import ReentrantCallbackGroup -from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - -class JointRepublisher(BaseROS2DeviceNode): - def __init__(self,device_id,resource_tracker): - super().__init__( - driver_instance=self, - device_id=device_id, - status_types={}, - action_value_mappings={}, - hardware_interface={}, - print_publish=False, - resource_tracker=resource_tracker, - ) - - # print('-'*20,device_id) - self.joint_repub = self.create_publisher(String,f'joint_state_repub',10) - # 创建订阅者 - self.create_subscription( - JointState, - '/joint_states', - self.listener_callback, - 10, - callback_group=ReentrantCallbackGroup() - ) - self.msg = String() - - def listener_callback(self, msg:JointState): - - try: - json_dict = {} - json_dict["name"] = list(msg.name) - json_dict["position"] = list(msg.position) - json_dict["velocity"] = list(msg.velocity) - json_dict["effort"] = list(msg.effort) - - self.msg.data = str(json_dict) - self.joint_repub.publish(self.msg) - # print('-'*20) - # print(self.msg.data) - - except Exception as e: - print(e) - - -def main(): - - rclpy.init() - subscriber = JointRepublisher() - rclpy.spin(subscriber) - subscriber.destroy_node() - rclpy.shutdown() - - -if __name__ == '__main__': - main() diff --git a/unilabos/devices/ros_dev/resource_mesh_manager.py b/unilabos/devices/ros_dev/resource_mesh_manager.py deleted file mode 100644 index 5f04e1a1..00000000 --- a/unilabos/devices/ros_dev/resource_mesh_manager.py +++ /dev/null @@ -1,4962 +0,0 @@ -import time -import rclpy,json -from rclpy.node import Node -from std_msgs.msg import String,Header -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 shape_msgs.msg import Mesh, MeshTriangle, SolidPrimitive -from geometry_msgs.msg import Pose, PoseStamped, Point, Quaternion, TransformStamped -from rclpy.callback_groups import ReentrantCallbackGroup -from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy -from rclpy.task import Future -import copy -from typing import Tuple, Optional, Union, Any, List -from tf_transformations import quaternion_from_euler -from tf2_ros import TransformBroadcaster, Buffer, TransformListener -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 - -class ResourceMeshManager(BaseROS2DeviceNode): - def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50): - """初始化资源网格管理器节点 - - Args: - resource_model (dict): 资源模型字典,包含资源的3D模型信息 - resource_config (dict): 资源配置字典,包含资源的配置信息 - device_id (str): 节点名称 - """ - super().__init__( - driver_instance=self, - device_id=device_id, - status_types={}, - action_value_mappings={}, - hardware_interface={}, - print_publish=False, - resource_tracker=resource_tracker, - ) - - self.resource_model = resource_model - self.resource_config_dict = {item['id']: item for item in resource_config} - self.move_group_ready = False - self.resource_tf_dict = {} - self.tf_broadcaster = TransformBroadcaster(self) - self.tf_buffer = Buffer() - self.tf_listener = TransformListener(self.tf_buffer, self) - self.rate = rate - self.zero_count = 0 - - self.old_resource_pose = {} - self.__planning_scene = None - self.__old_planning_scene = None - self.__old_allowed_collision_matrix = None - - - callback_group = ReentrantCallbackGroup() - self._get_planning_scene_service = self.create_client( - srv_type=GetPlanningScene, - srv_name="/get_planning_scene", - qos_profile=QoSProfile( - durability=QoSDurabilityPolicy.VOLATILE, - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=1, - ), - callback_group=callback_group, - ) - - # Create a service for applying the planning scene - self._apply_planning_scene_service = self.create_client( - srv_type=ApplyPlanningScene, - srv_name="/apply_planning_scene", - qos_profile=QoSProfile( - durability=QoSDurabilityPolicy.VOLATILE, - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=1, - ), - callback_group=callback_group, - ) - - self.resource_pose_publisher = self.create_publisher( - String, f"resource_pose", 10 - ) - self.__collision_object_publisher = self.create_publisher( - CollisionObject, "/collision_object", 10 - ) - self.__attached_collision_object_publisher = self.create_publisher( - AttachedCollisionObject, "/attached_collision_object", 10 - ) - - # 创建一个Action Server用于修改resource_tf_dict - self._action_server = ActionServer( - self, - SendCmd, - f"tf_update", - self.tf_update, - callback_group=callback_group - ) - - self.resource_mesh_setup() - 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""" - - # 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() - - # time.sleep(1) - - - - def resource_mesh_setup(self): - """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(): - - 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'] != '': - 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 = { - "x": float(resource_config['position']['x'])/1000, - "y": float(resource_config['position']['y'])/1000, - "z": float(resource_config['position']['z'])/1000 - } - - rotation_dict = { - "x": 0, - "y": 0, - "z": 0 - } - - if 'rotation' in resource_config['config']: - rotation_dict = resource_config['config']['rotation'] - - # 从欧拉角转换为四元数 - q = quaternion_from_euler( - float(rotation_dict['x']), - 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], - "z": q[2], - "w": q[3] - } - - # 更新资源TF字典 - self.resource_tf_dict[resource_id] = { - "parent": parent_link, - "position": position, - "rotation": rotation - } - - - def publish_resource_tf(self): - """ - 发布资源之间的TF关系 - - 遍历self.resource_tf_dict中的每个元素，根据key，parent，以及position和rotation， - 发布key和parent之间的tf关系 - """ - - transforms = [] - - # 遍历资源TF字典 - resource_tf_dict = copy.deepcopy(self.resource_tf_dict) - for resource_id, tf_info in resource_tf_dict.items(): - parent = tf_info['parent'] - position = tf_info['position'] - rotation = tf_info['rotation'] - - # 创建静态变换消息 - - transform = TransformStamped() - transform.header.stamp = self.get_clock().now().to_msg() - transform.header.frame_id = parent - transform.child_frame_id = resource_id - - # 设置位置 - transform.transform.translation.x = float(position['x']) - transform.transform.translation.y = float(position['y']) - transform.transform.translation.z = float(position['z']) - - # 设置旋转 - transform.transform.rotation.x = rotation['x'] - transform.transform.rotation.y = rotation['y'] - transform.transform.rotation.z = rotation['z'] - transform.transform.rotation.w = rotation['w'] - - transforms.append(transform) - - # 一次性发布所有静态变换 - if transforms: - self.tf_broadcaster.sendTransform(transforms) - # self.check_resource_pose_changes() - # self.get_logger().info(f'已发布 {len(transforms)} 个资源TF关系') - - - def check_resource_pose_changes(self): - """ - 遍历资源TF字典，计算每个资源相对于world的变换， - 与旧的位姿比较，记录发生变化的资源，并更新旧位姿记录。 - - Returns: - dict: 包含发生位姿变化的资源ID及其新位姿 - """ - if not self.move_group_ready: - self.check_move_group_ready() - return - changed_poses = {} - resource_tf_dict = copy.deepcopy(self.resource_tf_dict) - for resource_id in resource_tf_dict.keys(): - try: - # 获取从resource_id到world的转换 - - transform = self.tf_buffer.lookup_transform( - "world", - resource_id, - rclpy.time.Time(seconds=0), - rclpy.duration.Duration(seconds=5) - ) - - # 提取当前位姿信息 - current_pose = { - "position": { - "x": transform.transform.translation.x, - "y": transform.transform.translation.y, - "z": transform.transform.translation.z - }, - "rotation": { - "x": transform.transform.rotation.x, - "y": transform.transform.rotation.y, - "z": transform.transform.rotation.z, - "w": transform.transform.rotation.w - } - } - - # 检查是否存在旧位姿记录 - if resource_id not in self.old_resource_pose: - # 如果没有旧记录，则认为是新资源，记录变化 - changed_poses[resource_id] = current_pose - self.old_resource_pose[resource_id] = current_pose - else: - # 比较当前位姿与旧位姿 - old_pose = self.old_resource_pose[resource_id] - if (not self._is_pose_equal(current_pose, old_pose)): - # 如果位姿发生变化，记录新位姿 - changed_poses[resource_id] = current_pose - self.old_resource_pose[resource_id] = current_pose - - except Exception as e: - self.get_logger().warning(f"获取资源 {resource_id} 的世界坐标变换失败: {e}") - - if changed_poses != {}: - self.zero_count = 0 - changed_poses_msg = String() - changed_poses_msg.data = json.dumps(changed_poses) - self.resource_pose_publisher.publish(changed_poses_msg) - else: - if self.zero_count > self.rate: - self.zero_count = 0 - changed_poses_msg = String() - changed_poses_msg.data = json.dumps(changed_poses) - self.resource_pose_publisher.publish(changed_poses_msg) - self.zero_count += 1 - - - - - def _is_pose_equal(self, pose1, pose2, tolerance=1e-7): - """ - 比较两个位姿是否相等（考虑浮点数精度） - - Args: - pose1: 第一个位姿 - pose2: 第二个位姿 - tolerance: 浮点数比较的容差 - - Returns: - bool: 如果位姿相等返回True，否则返回False - """ - # 比较位置 - pos1 = pose1["position"] - pos2 = pose2["position"] - if (abs(pos1["x"] - pos2["x"]) > tolerance or - abs(pos1["y"] - pos2["y"]) > tolerance or - abs(pos1["z"] - pos2["z"]) > tolerance): - return False - - # 比较旋转 - rot1 = pose1["rotation"] - rot2 = pose2["rotation"] - if (abs(rot1["x"] - rot2["x"]) > tolerance or - abs(rot1["y"] - rot2["y"]) > tolerance or - abs(rot1["z"] - rot2["z"]) > tolerance or - abs(rot1["w"] - rot2["w"]) > tolerance): - return False - - return True - - def tf_update(self, goal_handle : ServerGoalHandle): - tf_update_msg = goal_handle.request - - try: - cmd_dict = json.loads(tf_update_msg.command.replace("'",'"')) - for resource_id, target_parent in cmd_dict.items(): - - # 获取从resource_id到target_parent的转换 - transform = self.tf_buffer.lookup_transform( - target_parent, - resource_id, - rclpy.time.Time(seconds=0) - ) - - # 提取转换中的位置和旋转信息 - position = { - "x": transform.transform.translation.x, - "y": transform.transform.translation.y, - "z": transform.transform.translation.z - } - - rotation = { - "x": transform.transform.rotation.x, - "y": transform.transform.rotation.y, - "z": transform.transform.rotation.z, - "w": transform.transform.rotation.w - } - - self.resource_tf_dict[resource_id] = { - "parent": target_parent, - "position": position, - "rotation": rotation - } - - self.attach_collision_object(id=resource_id,link_name=target_parent) - - self.publish_resource_tf() - - except Exception as e: - self.get_logger().error(f"更新资源TF字典失败: {e}") - goal_handle.abort() - return SendCmd.Result(success=False) - goal_handle.succeed() - return SendCmd.Result(success=True) - - - def add_resource_collision_meshes(self): - """ - 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 - - 该方法检查每个资源ID是否在self.resource_model中有对应的3D模型文件路径， - 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(): - - if resource_id in self.resource_model: - # 获取位置信息 - - position = [ - float(self.resource_model[resource_id]['mesh_tf'][0]), - float(self.resource_model[resource_id]['mesh_tf'][1]), - float(self.resource_model[resource_id]['mesh_tf'][2]) - ] - - # 获取旋转信息并转换为四元数 - - q = quaternion_from_euler( - float(self.resource_model[resource_id]['mesh_tf'][3]), - float(self.resource_model[resource_id]['mesh_tf'][4]), - float(self.resource_model[resource_id]['mesh_tf'][5]) - ) - - # 添加碰撞网格 - self.add_collision_mesh( - filepath=self.resource_model[resource_id]['mesh'], - id=resource_id, - position=position, - quat_xyzw=q, - frame_id=resource_id - ) - - elif f"{tf_info['parent']}_" in self.resource_model: - # 获取资源的父级框架ID - id_ = f"{tf_info['parent']}_" - - # 获取位置信息 - position = [ - float(self.resource_model[id_]['mesh_tf'][0]), - float(self.resource_model[id_]['mesh_tf'][1]), - float(self.resource_model[id_]['mesh_tf'][2]) - ] - - # 获取旋转信息并转换为四元数 - - q = quaternion_from_euler( - float(self.resource_model[id_]['mesh_tf'][3]), - float(self.resource_model[id_]['mesh_tf'][4]), - float(self.resource_model[id_]['mesh_tf'][5]) - ) - - # 添加碰撞网格 - self.add_collision_mesh( - filepath=self.resource_model[id_]['mesh'], - id=resource_id, - position=position, - quat_xyzw=q, - frame_id=resource_id - ) - time.sleep(0.02) - - self.get_logger().info('资源碰撞网格添加完成') - - - def add_collision_primitive( - self, - id: str, - primitive_type: int, - dimensions: Tuple[float, float, float], - 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, - ): - """ - Add collision object with a primitive geometry specified by its dimensions. - - `primitive_type` can be one of the following: - - `SolidPrimitive.BOX` - - `SolidPrimitive.SPHERE` - - `SolidPrimitive.CYLINDER` - - `SolidPrimitive.CONE` - """ - - 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 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, - ) - - msg.primitives.append( - SolidPrimitive(type=primitive_type, dimensions=dimensions) - ) - - self.__collision_object_publisher.publish(msg) - - def add_collision_box( - self, - id: str, - size: Tuple[float, float, float], - 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, - ): - """ - Add collision object with a box geometry specified by its size. - """ - - assert len(size) == 3, "Invalid size of the box!" - - self.add_collision_primitive( - id=id, - primitive_type=SolidPrimitive.BOX, - dimensions=size, - pose=pose, - position=position, - quat_xyzw=quat_xyzw, - frame_id=frame_id, - operation=operation, - ) - - def add_collision_sphere( - self, - id: str, - radius: float, - 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, - ): - """ - Add collision object with a sphere geometry specified by its radius. - """ - - if quat_xyzw is None: - quat_xyzw = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0) - - self.add_collision_primitive( - id=id, - primitive_type=SolidPrimitive.SPHERE, - dimensions=[ - radius, - ], - pose=pose, - position=position, - quat_xyzw=quat_xyzw, - frame_id=frame_id, - operation=operation, - ) - - def add_collision_cylinder( - self, - id: str, - height: float, - radius: float, - 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, - ): - """ - Add collision object with a cylinder geometry specified by its height and radius. - """ - - self.add_collision_primitive( - id=id, - primitive_type=SolidPrimitive.CYLINDER, - dimensions=[height, radius], - pose=pose, - position=position, - quat_xyzw=quat_xyzw, - frame_id=frame_id, - operation=operation, - ) - - def add_collision_cone( - self, - id: str, - height: float, - radius: float, - 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, - ): - """ - Add collision object with a cone geometry specified by its height and radius. - """ - - self.add_collision_primitive( - id=id, - primitive_type=SolidPrimitive.CONE, - dimensions=[height, radius], - pose=pose, - position=position, - quat_xyzw=quat_xyzw, - frame_id=frame_id, - operation=operation, - ) - - def add_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) - - def remove_collision_object(self, id: str): - """ - Remove collision object specified by its `id`. - """ - - msg = CollisionObject() - msg.id = id - msg.operation = CollisionObject.REMOVE - msg.header.stamp = self.get_clock().now().to_msg() - self.__collision_object_publisher.publish(msg) - - def remove_collision_mesh(self, id: str): - """ - Remove collision mesh specified by its `id`. - Identical to `remove_collision_object()`. - """ - - self.remove_collision_object(id) - - def attach_collision_object( - self, - id: str, - link_name: Optional[str] = None, - touch_links: List[str] = [], - weight: float = 0.0, - ): - """ - Attach collision object to the robot. - """ - - if link_name is None: - link_name = self.__end_effector_name - - msg = AttachedCollisionObject( - object=CollisionObject(id=id, operation=CollisionObject.ADD) - ) - msg.link_name = link_name - msg.touch_links = touch_links - msg.weight = weight - - self.__attached_collision_object_publisher.publish(msg) - - def detach_collision_object(self, id: int): - """ - Detach collision object from the robot. - """ - - msg = AttachedCollisionObject( - object=CollisionObject(id=id, operation=CollisionObject.REMOVE) - ) - self.__attached_collision_object_publisher.publish(msg) - - def detach_all_collision_objects(self): - """ - Detach collision object from the robot. - """ - - msg = AttachedCollisionObject( - object=CollisionObject(operation=CollisionObject.REMOVE) - ) - self.__attached_collision_object_publisher.publish(msg) - - def move_collision( - self, - id: str, - position: Union[Point, Tuple[float, float, float]], - quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]], - frame_id: Optional[str] = None, - ): - """ - Move collision object specified by its `id`. - """ - - msg = CollisionObject() - - 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 = Pose() - pose.position = position - pose.orientation = quat_xyzw - msg.pose = pose - msg.id = id - msg.operation = CollisionObject.MOVE - msg.header.frame_id = ( - frame_id if frame_id is not None else self.__base_link_name - ) - msg.header.stamp = self.get_clock().now().to_msg() - - self.__collision_object_publisher.publish(msg) - - def update_planning_scene(self) -> bool: - """ - Gets the current planning scene. Returns whether the service call was - successful. - """ - - if not self._get_planning_scene_service.service_is_ready(): - self.get_logger().warn( - f"Service '{self._get_planning_scene_service.srv_name}' is not yet available. Better luck next time!" - ) - return False - self.__planning_scene = self._get_planning_scene_service.call( - GetPlanningScene.Request() - ).scene - return True - - def allow_collisions(self, id: str, allow: bool) -> Optional[Future]: - """ - Takes in the ID of an element in the planning scene. Modifies the allowed - collision matrix to (dis)allow collisions between that object and all other - object. - - If `allow` is True, a plan will succeed even if the robot collides with that object. - If `allow` is False, a plan will fail if the robot collides with that object. - Returns whether it successfully updated the allowed collision matrix. - - Returns the future of the service call. - """ - # Update the planning scene - if not self.update_planning_scene(): - return None - allowed_collision_matrix = self.__planning_scene.allowed_collision_matrix - self.__old_allowed_collision_matrix = copy.deepcopy(allowed_collision_matrix) - - # Get the location in the allowed collision matrix of the object - j = None - if id not in allowed_collision_matrix.entry_names: - allowed_collision_matrix.entry_names.append(id) - else: - j = allowed_collision_matrix.entry_names.index(id) - # For all other objects, (dis)allow collisions with the object with `id` - for i in range(len(allowed_collision_matrix.entry_values)): - if j is None: - allowed_collision_matrix.entry_values[i].enabled.append(allow) - elif i != j: - allowed_collision_matrix.entry_values[i].enabled[j] = allow - # For the object with `id`, (dis)allow collisions with all other objects - allowed_collision_entry = AllowedCollisionEntry( - enabled=[allow for _ in range(len(allowed_collision_matrix.entry_names))] - ) - if j is None: - allowed_collision_matrix.entry_values.append(allowed_collision_entry) - else: - allowed_collision_matrix.entry_values[j] = allowed_collision_entry - - # Apply the new planning scene - if not self._apply_planning_scene_service.service_is_ready(): - self.get_logger().warn( - f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!" - ) - return None - return self._apply_planning_scene_service.call_async( - ApplyPlanningScene.Request(scene=self.__planning_scene) - ) - - def process_allow_collision_future(self, future: Future) -> bool: - """ - Return whether the allow collision service call is done and has succeeded - or not. If it failed, reset the allowed collision matrix to the old one. - """ - if not future.done(): - return False - - # Get response - resp = future.result() - - # If it failed, restore the old planning scene - if not resp.success: - self.__planning_scene.allowed_collision_matrix = ( - self.__old_allowed_collision_matrix - ) - - return resp.success - - def clear_all_collision_objects(self) -> Optional[Future]: - """ - Removes all attached and un-attached collision objects from the planning scene. - - Returns a future for the ApplyPlanningScene service call. - """ - # Update the planning scene - if not self.update_planning_scene(): - return None - self.__old_planning_scene = copy.deepcopy(self.__planning_scene) - - # Remove all collision objects from the planning scene - self.__planning_scene.world.collision_objects = [] - self.__planning_scene.robot_state.attached_collision_objects = [] - - # Apply the new planning scene - if not self._apply_planning_scene_service.service_is_ready(): - self.get_logger().warn( - f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!" - ) - return None - return self._apply_planning_scene_service.call_async( - ApplyPlanningScene.Request(scene=self.__planning_scene) - ) - -if __name__ == '__main__': - model_s = ''' -{'Plate1': {'mesh': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl', 'mesh_tf': [0.064, 0.043, 0, -1.5708, 0, 1.5708]}, -'Plate1_': {'mesh': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl', 'mesh_tf': [0.0018, 0.0018, 0, -1.5708,0, 0]}} -''' - resource_model = json.loads(model_s.replace("'",'"')) - - config_s = ''' -[ - { - "id": "Gripper1", - "name": "假夹爪", - "children": [], - "parent": null, - "type": "device", - "class": "gripper.mock", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": {}, - "data": {} - }, - { - "id": "Plate1", - "name": "Plate1", - "sample_id": null, - "children": [ - "Plate1_A1", - "Plate1_B1", - "Plate1_C1", - "Plate1_D1", - "Plate1_E1", - "Plate1_F1", - "Plate1_G1", - "Plate1_H1", - "Plate1_A2", - "Plate1_B2", - "Plate1_C2", - "Plate1_D2", - "Plate1_E2", - "Plate1_F2", - "Plate1_G2", - "Plate1_H2", - "Plate1_A3", - "Plate1_B3", - "Plate1_C3", - "Plate1_D3", - "Plate1_E3", - "Plate1_F3", - "Plate1_G3", - "Plate1_H3", - "Plate1_A4", - "Plate1_B4", - "Plate1_C4", - "Plate1_D4", - "Plate1_E4", - "Plate1_F4", - "Plate1_G4", - "Plate1_H4", - "Plate1_A5", - "Plate1_B5", - "Plate1_C5", - "Plate1_D5", - "Plate1_E5", - "Plate1_F5", - "Plate1_G5", - "Plate1_H5", - "Plate1_A6", - "Plate1_B6", - "Plate1_C6", - "Plate1_D6", - "Plate1_E6", - "Plate1_F6", - "Plate1_G6", - "Plate1_H6", - "Plate1_A7", - "Plate1_B7", - "Plate1_C7", - "Plate1_D7", - "Plate1_E7", - "Plate1_F7", - "Plate1_G7", - "Plate1_H7", - "Plate1_A8", - "Plate1_B8", - "Plate1_C8", - "Plate1_D8", - "Plate1_E8", - "Plate1_F8", - "Plate1_G8", - "Plate1_H8", - "Plate1_A9", - "Plate1_B9", - "Plate1_C9", - "Plate1_D9", - "Plate1_E9", - "Plate1_F9", - "Plate1_G9", - "Plate1_H9", - "Plate1_A10", - "Plate1_B10", - "Plate1_C10", - "Plate1_D10", - "Plate1_E10", - "Plate1_F10", - "Plate1_G10", - "Plate1_H10", - "Plate1_A11", - "Plate1_B11", - "Plate1_C11", - "Plate1_D11", - "Plate1_E11", - "Plate1_F11", - "Plate1_G11", - "Plate1_H11", - "Plate1_A12", - "Plate1_B12", - "Plate1_C12", - "Plate1_D12", - "Plate1_E12", - "Plate1_F12", - "Plate1_G12", - "Plate1_H12" - ], - "parent": "Gripper1", - "type": "device", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 69 - }, - "config": { - "type": "Plate", - "size_x": 127.76, - "size_y": 85.48, - "size_z": 15.7, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": "NEST 96 Well Plate 100 µL PCR Full Skirt", - "ordering": [ - "A1", - "B1", - "C1", - "D1", - "E1", - "F1", - "G1", - "H1", - "A2", - "B2", - "C2", - "D2", - "E2", - "F2", - "G2", - "H2", - "A3", - "B3", - "C3", - "D3", - "E3", - "F3", - "G3", - "H3", - "A4", - "B4", - "C4", - "D4", - "E4", - "F4", - "G4", - "H4", - "A5", - "B5", - "C5", - "D5", - "E5", - "F5", - "G5", - "H5", - "A6", - "B6", - "C6", - "D6", - "E6", - "F6", - "G6", - "H6", - "A7", - "B7", - "C7", - "D7", - "E7", - "F7", - "G7", - "H7", - "A8", - "B8", - "C8", - "D8", - "E8", - "F8", - "G8", - "H8", - "A9", - "B9", - "C9", - "D9", - "E9", - "F9", - "G9", - "H9", - "A10", - "B10", - "C10", - "D10", - "E10", - "F10", - "G10", - "H10", - "A11", - "B11", - "C11", - "D11", - "E11", - "F11", - "G11", - "H11", - "A12", - "B12", - "C12", - "D12", - "E12", - "F12", - "G12", - "H12" - ] - }, - "data": {} - }, - { - "id": "Plate1_A1", - "name": "Plate1_A1", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 12.492, - "y": 72.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_B1", - "name": "Plate1_B1", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 12.492, - "y": 63.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_C1", - "name": "Plate1_C1", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 12.492, - "y": 54.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_D1", - "name": "Plate1_D1", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 12.492, - "y": 45.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - 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"size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_F11", - "name": "Plate1_F11", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 102.492, - "y": 27.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_G11", - "name": "Plate1_G11", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 102.492, - "y": 18.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_H11", - "name": "Plate1_H11", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 102.492, - "y": 9.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_A12", - "name": "Plate1_A12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 72.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_B12", - "name": "Plate1_B12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 63.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_C12", - "name": "Plate1_C12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 54.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_D12", - "name": "Plate1_D12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 45.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_E12", - "name": "Plate1_E12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 36.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_F12", - "name": "Plate1_F12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 27.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_G12", - "name": "Plate1_G12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 18.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - }, - { - "id": "Plate1_H12", - "name": "Plate1_H12", - "sample_id": null, - "children": [], - "parent": "Plate1", - "type": "device", - "class": "", - "position": { - "x": 111.492, - "y": 9.352, - "z": 0.92 - }, - "config": { - "type": "Well", - "size_x": 3.776, - "size_y": 3.776, - "size_z": 14.78, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "well", - "model": null, - "max_volume": 100, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null, - "bottom_type": "unknown", - "cross_section_type": "circle" - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - } -] - - ''' - resource_config = json.loads(config_s.replace("'",'"')) - rclpy.init() - resource_mesh_manager = ResourceMeshManager(resource_model, resource_config, DeviceNodeResourceTracker()) - # resource_mesh_manager.resource_mesh_setup() - # resource_mesh_manager.check_move_group_ready() - # resource_mesh_manager.publish_resource_tf() - # resource_mesh_manager.clear_all_collision_objects() - # print(json.dumps(resource_mesh_manager.resource_tf_dict, indent=4, ensure_ascii=False)) - - rclpy.spin(resource_mesh_manager) \ No newline at end of file diff --git a/unilabos/registry/devices/sim_nodes.yaml b/unilabos/registry/devices/sim_nodes.yaml index ec7ee61b..de4d110e 100644 --- a/unilabos/registry/devices/sim_nodes.yaml +++ b/unilabos/registry/devices/sim_nodes.yaml @@ -1,13 +1,3 @@ -joint_republisher: - class: - module: unilabos.devices.ros_dev.joint_republisher:JointRepublisher - type: ros2 - -resource.mesh_manager: - class: - module: unilabos.devices.ros_dev.resource_mesh_manager:ResourceMeshManager - type: ros2 - lh_joint_publisher: class: module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index 92d3aec4..adaee5ed 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -49,9 +49,11 @@ def main( discovery_interval: float = 5.0, ) -> None: """主函数""" - rclpy.init(args=args) - rclpy.__executor = executor = MultiThreadedExecutor() - + if not rclpy.ok(): + rclpy.init(args=args) + executor = rclpy.__executor + if not executor: + executor = rclpy.__executor = MultiThreadedExecutor() # 创建主机节点 host_node = HostNode( "host_node", @@ -79,8 +81,11 @@ def slave( args: List[str] = ["--log-level", "debug"], ) -> None: """从节点函数""" - rclpy.init(args=args) - rclpy.__executor = executor = MultiThreadedExecutor() + if not rclpy.ok(): + rclpy.init(args=args) + executor = rclpy.__executor + if not executor: + executor = rclpy.__executor = MultiThreadedExecutor() devices_config_copy = copy.deepcopy(devices_config) for device_id, device_config in devices_config.items(): d = initialize_device_from_dict(device_id, device_config) diff --git a/unilabos/ros/nodes/presets/resource_mesh_manager.py b/unilabos/ros/nodes/presets/resource_mesh_manager.py index cf43b804..5f04e1a1 100644 --- a/unilabos/ros/nodes/presets/resource_mesh_manager.py +++ b/unilabos/ros/nodes/presets/resource_mesh_manager.py @@ -22,7 +22,7 @@ from rclpy.action.server import ServerGoalHandle from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker class ResourceMeshManager(BaseROS2DeviceNode): - def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager"): + def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50): """初始化资源网格管理器节点 Args: @@ -47,7 +47,8 @@ class ResourceMeshManager(BaseROS2DeviceNode): self.tf_broadcaster = TransformBroadcaster(self) self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) - + self.rate = rate + self.zero_count = 0 self.old_resource_pose = {} self.__planning_scene = None @@ -101,8 +102,8 @@ class ResourceMeshManager(BaseROS2DeviceNode): ) self.resource_mesh_setup() - self.create_timer(0.02, self.publish_resource_tf) - self.create_timer(1, self.check_resource_pose_changes) + self.create_timer(1/self.rate, self.publish_resource_tf) + self.create_timer(1/self.rate, self.check_resource_pose_changes) @@ -116,6 +117,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): # 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() # time.sleep(1) @@ -246,7 +248,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): transform = self.tf_buffer.lookup_transform( "world", resource_id, - rclpy.time.Time(), + rclpy.time.Time(seconds=0), rclpy.duration.Duration(seconds=5) ) @@ -280,13 +282,24 @@ class ResourceMeshManager(BaseROS2DeviceNode): except Exception as e: self.get_logger().warning(f"获取资源 {resource_id} 的世界坐标变换失败: {e}") - - changed_poses_msg = String() - changed_poses_msg.data = json.dumps(changed_poses) - self.resource_pose_publisher.publish(changed_poses_msg) + + if changed_poses != {}: + self.zero_count = 0 + changed_poses_msg = String() + changed_poses_msg.data = json.dumps(changed_poses) + self.resource_pose_publisher.publish(changed_poses_msg) + else: + if self.zero_count > self.rate: + self.zero_count = 0 + changed_poses_msg = String() + changed_poses_msg.data = json.dumps(changed_poses) + self.resource_pose_publisher.publish(changed_poses_msg) + self.zero_count += 1 + + - def _is_pose_equal(self, pose1, pose2, tolerance=1e-5): + def _is_pose_equal(self, pose1, pose2, tolerance=1e-7): """ 比较两个位姿是否相等（考虑浮点数精度） @@ -328,7 +341,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): transform = self.tf_buffer.lookup_transform( target_parent, resource_id, - rclpy.time.Time() + rclpy.time.Time(seconds=0) ) # 提取转换中的位置和旋转信息 @@ -350,7 +363,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): "position": position, "rotation": rotation } - + self.attach_collision_object(id=resource_id,link_name=target_parent) self.publish_resource_tf() @@ -362,48 +375,6 @@ class ResourceMeshManager(BaseROS2DeviceNode): goal_handle.succeed() return SendCmd.Result(success=True) - def publish_resource_tf(self): - """ - 发布资源之间的TF关系 - - 遍历self.resource_tf_dict中的每个元素，根据key，parent，以及position和rotation， - 发布key和parent之间的tf关系 - """ - - transforms = [] - - # 遍历资源TF字典 - resource_tf_dict = copy.deepcopy(self.resource_tf_dict) - for resource_id, tf_info in resource_tf_dict.items(): - parent = tf_info['parent'] - position = tf_info['position'] - rotation = tf_info['rotation'] - - # 创建静态变换消息 - - transform = TransformStamped() - transform.header.stamp = self.get_clock().now().to_msg() - transform.header.frame_id = parent - transform.child_frame_id = resource_id - - # 设置位置 - transform.transform.translation.x = float(position['x']) - transform.transform.translation.y = float(position['y']) - transform.transform.translation.z = float(position['z']) - - # 设置旋转 - transform.transform.rotation.x = rotation['x'] - transform.transform.rotation.y = rotation['y'] - transform.transform.rotation.z = rotation['z'] - transform.transform.rotation.w = rotation['w'] - - transforms.append(transform) - - # 一次性发布所有静态变换 - if transforms: - self.tf_broadcaster.sendTransform(transforms) - - # self.get_logger().info(f'已发布 {len(transforms)} 个资源TF关系') def add_resource_collision_meshes(self): """