add 3d visualization

2025-12-17 04:51:10 +00:00 · 2025-04-23 11:01:58 +08:00
parent a4fd428dc3
commit 5b4f580a6f
40 changed files with 714 additions and 6 deletions
--- a/unilabos/device_mesh/resource_visalization.py
+++ b/unilabos/device_mesh/resource_visalization.py
@@ -0,0 +1,132 @@
+from launch import LaunchService
+from launch import LaunchDescription
+from launch_ros.actions import Node as nd
+import xacro
+from lxml import etree
+
+
+class ResourceVisualization:
+    def __init__(self, device: dict, registry: dict,  resource: dict, enable_rviz: bool = False):
+        
+        """初始化资源可视化类
+        
+        Args:
+            device: 设备配置字典
+            registry: 注册表字典
+        """
+        self.launch_service = LaunchService()
+        self.launch_description = LaunchDescription()
+        self.resource_dict = resource
+        self.resource_model = {}
+        self.resource_type = ['plate', 'container']
+
+        self.robot_state_str= '''<?xml version="1.0" ?>
+        <robot xmlns:xacro="http://ros.org/wiki/xacro" name="full_dev">
+        <link name="world"/>
+        </robot>
+        '''
+        self.root = etree.fromstring(self.robot_state_str)
+                
+        xacro_uri = self.root.nsmap["xacro"]
+        # 遍历设备节点
+        for node in device['nodes']:
+            if node['type'] == 'device':
+                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():
+                    raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
+                
+                elif "model" in device_class.keys():
+                    model_config = registry.device_type_registry[device_class]['model']
+
+                    if model_config['type'] == 'device':
+                        new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
+                        new_include.set("filename", f"{model_config['mesh']}/macro_device.xacro")
+                        new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
+                        new_dev.set("parent_link", "world")
+                        
+            elif node['type'] in self.resource_type:
+                resource_class = node['class']
+                if resource_class not in registry.resource_type_registry.keys():
+                    raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
+                if model_config['type'] == 'resource':
+                    model_config = registry.resource_type_registry[resource_class]['model']
+                    self.resource_model[node['id']] = model_config['mesh']
+                    if model_config['children_mesh'] is not None:
+                        self.resource_model[f"{node['id']}_"] = model_config['children_mesh']
+        
+        re = etree.tostring(self.root, encoding="unicode")
+        doc = xacro.parse(re)
+        xacro.process_doc(doc)
+
+
+    def create_launch_description(self, urdf_str: str, enable_rviz: bool = False) -> LaunchDescription:
+        """
+        创建launch描述，包含robot_state_publisher和move_group节点
+
+        Args:
+            urdf_str: URDF文本
+            enable_rviz: 是否启用RViz可视化
+
+        Returns:
+            LaunchDescription: launch描述对象
+        """
+
+        
+        # 解析URDF文件
+        robot_description = urdf_str
+
+        # 创建robot_state_publisher节点
+        robot_state_publisher = nd(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'use_sim_time': False
+            }]
+        )
+
+        # 创建move_group节点
+        move_group = nd(
+            package='moveit_ros_move_group',
+            executable='move_group',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'allow_trajectory_execution': True,
+                'capabilities': '',
+                'disable_capabilities': '',
+                'monitor_dynamics': False,
+                'publish_monitored_planning_scene': True
+            }]
+        )
+
+        # 将节点添加到launch描述中
+        self.launch_description.add_action(robot_state_publisher)
+        self.launch_description.add_action(move_group)
+
+        # 如果启用RViz,添加RViz节点
+        if enable_rviz:
+            rviz_node = nd(
+                package='rviz2',
+                executable='rviz2',
+                name='rviz2',
+                output='screen'
+            )
+            self.launch_description.add_action(rviz_node)
+
+        return self.launch_description
+
+    def start(self, urdf_str: str) -> None:
+        """
+        启动可视化服务
+
+        Args:
+            urdf_str: URDF文件路径
+        """
+        launch_description = self.create_launch_description(urdf_str)
+        self.launch_service.include_launch_description(launch_description)
+        self.launch_service.run()