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Dev v0.9.0 (#23)

Browse Source 
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
2025-05-07 17:37:03 +08:00
committed by GitHub
parent d1fbea3b7d
commit 5a564c0c05
93 changed files with 13081 additions and 211 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
unilabos/device_mesh/devices/opentrons_liquid_handler/joint_config.json Normal file
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{
"first_joint": {
"child":"first_link",
"axis" : "-y"
},
"second_joint": {
"child":"second_link",
"axis" : "-x"
},
"third_joint": {
"child":"third_link",
"axis" : "-z"
},
"fourth_joint": {
"child":"fourth_link",
"axis" : "-z"
}
}

210
unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro Normal file
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="opentrons_liquid_handler"
params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}device_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}device_link"/>
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
<origin xyz="-0.11565 0.496 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}main_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name='${station_name}${device_name}main_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}first_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}second_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}third_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}fourth_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
</geometry>
</collision>
</link>
<joint name='${station_name}${device_name}first_joint' type='prismatic'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}first_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<joint name='${station_name}${device_name}second_joint' type='prismatic'>
<parent link="${station_name}${device_name}first_link"/>
<child link="${station_name}${device_name}second_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<joint name='${station_name}${device_name}third_joint' type='prismatic'>
<parent link="${station_name}${device_name}second_link"/>
<child link="${station_name}${device_name}third_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 -1"/>
<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
<parent link="${station_name}${device_name}second_link"/>
<child link="${station_name}${device_name}fourth_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 -1"/>
<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
</joint>
<link name='${station_name}${device_name}socketTypeHEPAModule'/>
<joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeHEPAModule"/>
<origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
</joint>
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json Normal file
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{
"private_param":
{
},
"public_param":
{
}
}