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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
@@ -2,9 +2,13 @@ import copy
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import json
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import os
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import threading
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import time
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from typing import Optional, Dict, Any, List
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import rclpy
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from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
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from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore
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from rclpy.executors import MultiThreadedExecutor
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@@ -40,17 +44,19 @@ def exit() -> None:
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def main(
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devices_config: Dict[str, Any] = {},
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resources_config={},
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resources_config: list=[],
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graph: Optional[Dict[str, Any]] = None,
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controllers_config: Dict[str, Any] = {},
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bridges: List[Any] = [],
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args: List[str] = ["--log-level", "debug"],
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visual: str = "disable",
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resources_mesh_config: dict = {},
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rclpy_init_args: List[str] = ["--log-level", "debug"],
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discovery_interval: float = 5.0,
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) -> None:
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"""主函数"""
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rclpy.init(args=args)
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rclpy.__executor = executor = MultiThreadedExecutor()
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rclpy.init(args=rclpy_init_args)
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executor = rclpy.__executor = MultiThreadedExecutor()
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# 创建主机节点
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host_node = HostNode(
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"host_node",
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@@ -62,11 +68,26 @@ def main(
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discovery_interval,
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)
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if visual != "disable":
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resource_mesh_manager = ResourceMeshManager(
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resources_mesh_config,
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resources_config,
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resource_tracker= DeviceNodeResourceTracker(),
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device_id = 'resource_mesh_manager',
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)
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joint_republisher = JointRepublisher(
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'joint_republisher',
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DeviceNodeResourceTracker()
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)
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executor.add_node(resource_mesh_manager)
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executor.add_node(joint_republisher)
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thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
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thread.start()
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while True:
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input()
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time.sleep(1)
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def slave(
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@@ -75,11 +96,16 @@ def slave(
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graph: Optional[Dict[str, Any]] = None,
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controllers_config: Dict[str, Any] = {},
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bridges: List[Any] = [],
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args: List[str] = ["--log-level", "debug"],
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visual: str = "disable",
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resources_mesh_config: dict = {},
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rclpy_init_args: List[str] = ["--log-level", "debug"],
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) -> None:
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"""从节点函数"""
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rclpy.init(args=args)
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rclpy.__executor = executor = MultiThreadedExecutor()
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if not rclpy.ok():
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rclpy.init(args=rclpy_init_args)
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executor = rclpy.__executor
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if not executor:
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executor = rclpy.__executor = MultiThreadedExecutor()
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devices_config_copy = copy.deepcopy(devices_config)
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for device_id, device_config in devices_config.items():
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d = initialize_device_from_dict(device_id, device_config)
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@@ -94,6 +120,21 @@ def slave(
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n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
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executor.add_node(n)
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if visual != "disable":
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resource_mesh_manager = ResourceMeshManager(
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resources_mesh_config,
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resources_config,
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resource_tracker= DeviceNodeResourceTracker(),
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device_id = 'resource_mesh_manager',
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)
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joint_republisher = JointRepublisher(
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'joint_republisher',
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DeviceNodeResourceTracker()
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)
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executor.add_node(resource_mesh_manager)
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executor.add_node(joint_republisher)
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thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
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thread.start()
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@@ -112,7 +153,7 @@ def slave(
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logger.info(f"Slave node info updated.")
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rclient = n.create_client(ResourceAdd, "/resources/add")
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rclient.wait_for_service() # FIXME 可能一直等待，加一个参数
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rclient.wait_for_service()
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request = ResourceAdd.Request()
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request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
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@@ -120,7 +161,7 @@ def slave(
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logger.info(f"Slave resource added.")
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while True:
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input()
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time.sleep(1)
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if __name__ == "__main__":
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main()
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