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https://github.com/dptech-corp/Uni-Lab-OS.git
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Dev v0.9.0 (#23)
Add high-level PLR functions Add Laiyu/Zhida driver support Fix ROS node discovery issues Add hostname and resource query support Fix ROS message conversion logic Support configuration via environment variables * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * 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 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 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 * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 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 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * 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 * Device visualization (#14) * 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 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * 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> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
This commit is contained in:
Xuwznln
GitHub
@@ -1,19 +1,24 @@
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import argparse
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import asyncio
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import json
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import os
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import signal
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import sys
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import json
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import yaml
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import threading
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import time
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from copy import deepcopy
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import yaml
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# 首先添加项目根目录到路径
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current_dir = os.path.dirname(os.path.abspath(__file__))
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ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
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if ilabos_dir not in sys.path:
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sys.path.append(ilabos_dir)
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unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
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if unilabos_dir not in sys.path:
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sys.path.append(unilabos_dir)
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from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
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from unilabos.utils.banner_print import print_status, print_unilab_banner
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from unilabos.device_mesh.resource_visalization import ResourceVisualization
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def parse_args():
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@@ -65,12 +70,21 @@ def parse_args():
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help="信息页web服务的启动端口",
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)
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parser.add_argument(
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"--open_browser",
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type=bool,
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default=True,
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help="是否在启动时打开信息页",
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"--disable_browser",
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action='store_true',
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help="是否在启动时关闭信息页",
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)
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parser.add_argument(
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"--2d_vis",
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action='store_true',
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help="是否在pylabrobot实例启动时，同时启动可视化",
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)
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parser.add_argument(
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"--visual",
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choices=["rviz", "web", "disable"],
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default="disable",
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help="选择可视化工具: rviz, web",
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)
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return parser.parse_args()
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@@ -101,6 +115,7 @@ def main():
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machine_name = os.popen("hostname").read().strip()
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machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
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BasicConfig.machine_name = machine_name
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BasicConfig.vis_2d_enable = args_dict["2d_vis"]
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from unilabos.resources.graphio import (
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read_node_link_json,
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@@ -121,6 +136,7 @@ def main():
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# 注册表
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build_registry(args_dict["registry_path"])
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devices_and_resources = None
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if args_dict["graph"] is not None:
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import unilabos.resources.graphio as graph_res
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graph_res.physical_setup_graph = (
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@@ -132,6 +148,7 @@ def main():
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args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
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args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
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# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
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args_dict["graph"] = graph_res.physical_setup_graph
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else:
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if args_dict["devices"] is None or args_dict["resources"] is None:
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@@ -166,9 +183,28 @@ def main():
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signal.signal(signal.SIGINT, _exit)
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signal.signal(signal.SIGTERM, _exit)
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mqtt_client.start()
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start_backend(**args_dict)
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start_server(port=args_dict.get("port", 8002), open_browser=args_dict.get("open_browser", False))
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args_dict["resources_mesh_config"] = {}
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# web visiualize 2D
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if args_dict["visual"] != "disable":
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enable_rviz = args_dict["visual"] == "rviz"
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if devices_and_resources is not None:
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resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
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args_dict["resources_mesh_config"] = resource_visualization.resource_model
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start_backend(**args_dict)
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server_thread = threading.Thread(target=start_server, kwargs=dict(
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open_browser=not args_dict["disable_browser"]
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))
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server_thread.start()
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asyncio.set_event_loop(asyncio.new_event_loop())
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resource_visualization.start()
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while True:
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time.sleep(1)
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else:
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start_backend(**args_dict)
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start_server(open_browser=not args_dict["disable_browser"])
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else:
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start_backend(**args_dict)
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start_server(open_browser=not args_dict["disable_browser"])
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if __name__ == "__main__":
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