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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>
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Xuwznln
GitHub
@@ -9,6 +9,7 @@ from typing import List, Dict, Any, Optional
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import requests
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from unilabos.utils.log import info
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from unilabos.config.config import MQConfig, HTTPConfig
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from unilabos.utils import logger
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class HTTPClient:
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@@ -102,6 +103,30 @@ class HTTPClient:
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)
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return response
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def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
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"""
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上传文件到服务器
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使用multipart/form-data格式上传文件，类似curl -F "files=@filepath"
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Args:
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file_path: 要上传的文件路径
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scene: 上传场景，可选值为"user"或"models"，默认为"models"
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Returns:
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Response: API响应对象
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"""
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with open(file_path, "rb") as file:
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files = {"files": file}
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logger.info(f"上传文件: {file_path} 到 {scene}")
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response = requests.post(
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f"{self.remote_addr}/api/account/file_upload/{scene}",
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files=files,
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headers={"Authorization": f"lab {self.auth}"},
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timeout=30, # 上传文件可能需要更长的超时时间
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)
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return response
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# 创建默认客户端实例
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http_client = HTTPClient()
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@@ -8,7 +8,7 @@ import traceback
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from typing import Dict, Any, Type, TypedDict, Optional
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from rclpy.action import ActionClient, ActionServer
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from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
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from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString
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from unilabos.ros.msgs.message_converter import msg_converter_manager
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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@@ -74,7 +74,6 @@ def get_yaml_from_goal_type(goal_type) -> str:
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for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
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slot_name, slot_type = slot_info
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type_info = goal_type.SLOT_TYPES[ind]
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default_value = "unknown"
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if isinstance(type_info, UnboundedSequence):
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inner_type = type_info.value_type
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if isinstance(inner_type, NamespacedType):
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@@ -83,8 +82,10 @@ def get_yaml_from_goal_type(goal_type) -> str:
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default_value = [get_ros_msg_instance_as_dict(type_class())]
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elif isinstance(inner_type, BasicType):
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default_value = [get_default_value_for_ros_type(inner_type.typename)]
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elif isinstance(inner_type, UnboundedString):
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default_value = [""]
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else:
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default_value = "unknown"
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default_value = []
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elif isinstance(type_info, NamespacedType):
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cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
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type_class = msg_converter_manager.get_class(cls_name)
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@@ -93,6 +94,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
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default_value = get_ros_msg_instance_as_dict(type_class())
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elif isinstance(type_info, BasicType):
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default_value = get_default_value_for_ros_type(type_info.typename)
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elif isinstance(type_info, UnboundedString):
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default_value = ""
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else:
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type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
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if type_class is not None:
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