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提取lh的joint发布

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zhangshixiang
2025-05-13 21:45:13 +08:00
parent 013c25f3aa
commit 6a33f9986b
5 changed files with 297 additions and 112 deletions
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277
unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
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@@ -3,7 +3,7 @@ import rclpy
import json
import time
from rclpy.executors import MultiThreadedExecutor
from rclpy.action import ActionServer
from rclpy.action import ActionServer,ActionClient
from sensor_msgs.msg import JointState
from unilabos_msgs.action import SendCmd
from rclpy.action.server import ServerGoalHandle
@@ -11,9 +11,11 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from tf_transformations import quaternion_from_euler
from tf2_ros import TransformBroadcaster, Buffer, TransformListener
from rclpy.node import Node
import re
class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
def __init__(self,device_id:str, joint_config:dict, lh_id:str,resource_tracker, rate=50):
def __init__(self,resource_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher"):
super().__init__(
driver_instance=self,
device_id=device_id,
@@ -23,60 +25,113 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
print_publish=False,
resource_tracker=resource_tracker,
)
# joint_config_dict = {
# "joint_names":[
# "first_joint",
# "second_joint",
# "third_joint",
# "fourth_joint"
# ],
# "y":{
# "first_joint":{
# "factor":-1,
# "offset":0.0
# }
# },
# "x":{
# "second_joint":{
# "factor":-1,
# "offset":0.0
# }
# },
# "z":{
# "third_joint":{
# "factor":1,
# "offset":0.0
# },
# "fourth_joint":{
# "factor":1,
# "offset":0.0
# }
# }
# }
# 初始化参数
self.j_msg = JointState()
self.lh_id = lh_id
# self.j_msg.name = joint_names
self.joint_config = joint_config
self.j_msg.position = [0.0 for i in range(len(joint_config['joint_names']))]
self.j_msg.name = [f"{self.lh_id}_{x}" for x in joint_config['joint_names']]
# self.joint_config = joint_config_dict
# self.j_msg.position = [0.0 for i in range(len(joint_config_dict['joint_names']))]
# self.j_msg.name = [f"{self.lh_id}_{x}" for x in joint_config_dict['joint_names']]
joint_config = json.load(open('./lh_joint_config.json', encoding="utf-8"))
self.resource_config = resource_config
self.rate = rate
self.tf_buffer = Buffer()
self.tf_listener = TransformListener(self.tf_buffer, self)
self.j_pub = self.create_publisher(JointState,'/joint_states',10)
self.create_timer(0.02,self.lh_joint_pub_callback)
self.create_timer(1,self.lh_joint_pub_callback)
self.resource_action = None
while self.resource_action is None:
self.resource_action = self.check_tf_update_actions()
time.sleep(1)
self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
while not self.resource_action_client.wait_for_server(timeout_sec=1.0):
self.get_logger().info('等待 TfUpdate 服务器...')
self.deck_list = []
self.lh_devices = {}
# 初始化设备ID与config信息
for resource in resource_config:
if resource['class'] == 'liquid_handler':
deck_id = resource['config']['data']['children'][0]['_resource_child_name']
deck_class = resource['config']['data']['children'][0]['_resource_type'].split(':')[-1]
key = f'{resource["id"]}_{deck_id}'
self.lh_devices[key] = {
'joint_msg':JointState(
name=[f'{key}_{x}' for x in joint_config[deck_class]['joint_names']],
position=[0.0 for _ in joint_config[deck_class]['joint_names']]
),
'joint_config':joint_config[deck_class]
}
self.deck_list.append(deck_id)
self.j_action = ActionServer(
self,
SendCmd,
"joint",
"hl_joint_action",
self.lh_joint_action_callback,
result_timeout=5000
)
def check_tf_update_actions(self):
topics = self.get_topic_names_and_types()
for topic_item in topics:
topic_name, topic_types = topic_item
if 'action_msgs/msg/GoalStatusArray' in topic_types:
# 删除 /_action/status 部分
base_name = topic_name.replace('/_action/status', '')
# 检查最后一个部分是否为 tf_update
parts = base_name.split('/')
if parts and parts[-1] == 'tf_update':
return base_name
return None
def find_resource_parent(self, resource_id:str):
# 遍历父辈，找到父辈的父辈，直到找到设备ID
parent_id = self.resource_config[resource_id]['parent']
try:
if parent_id in self.deck_list:
return f'{self.resource_config[parent_id]['parent']}_{parent_id}'
else:
self.find_resource_parent(parent_id)
except:
return None
def send_resource_action(self, resource_id_list:list[str], link_name:str):
goal_msg = SendCmd.Goal()
str_dict = {}
for resource in resource_id_list:
str_dict[resource] = link_name
goal_msg.command = json.dumps(str_dict)
self.resource_action_client.send_goal_async(goal_msg)
def resource_move(self, resource_id:str, link_name:str, channels:list[int]):
resource = resource_id.rsplit("_",1)
channel_list = ['A','B','C','D','E','F','G','H']
resource_list = []
match = re.match(r'([a-zA-Z_]+)(\d+)', resource[1])
if match:
number = match.group(2)
for channel in channels:
resource_list.append(f"{resource[0]}_{channel_list[channel]}{number}")
if len(resource_list) > 0:
self.send_resource_action(resource_list, link_name)
def lh_joint_action_callback(self,goal_handle: ServerGoalHandle):
"""Move a single joint
@@ -107,6 +162,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
return result
def inverse_kinematics(self, x, y, z,
parent_id,
x_joint:dict,
y_joint:dict,
z_joint:dict ):
@@ -117,77 +173,90 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
x (float): x坐标
y (float): y坐标
z (float): z坐标
x_joint (dict): x轴关节配置，包含plus和offset
y_joint (dict): y轴关节配置，包含plus和offset
z_joint (dict): z轴关节配置，包含plus和offset
x_joint (dict): x轴关节配置，包含factor和offset
y_joint (dict): y轴关节配置，包含factor和offset
z_joint (dict): z轴关节配置，包含factor和offset
Returns:
dict: 关节名称和对应位置的字典
"""
joint_positions = copy.deepcopy(self.j_msg.position)
joint_positions = copy.deepcopy(self.lh_devices[parent_id]['joint_msg'].position)
z_index = 0
# 处理x轴关节
for joint_name, config in x_joint.items():
index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
index = self.lh_devices[parent_id]['joint_msg'].name.index(f"{parent_id}_{joint_name}")
joint_positions[index] = x * config["factor"] + config["offset"]
# 处理y轴关节
for joint_name, config in y_joint.items():
index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
index = self.lh_devices[parent_id]['joint_msg'].name.index(f"{parent_id}_{joint_name}")
joint_positions[index] = y * config["factor"] + config["offset"]
# 处理z轴关节
for joint_name, config in z_joint.items():
index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
index = self.lh_devices[parent_id]['joint_msg'].name.index(f"{parent_id}_{joint_name}")
joint_positions[index] = z * config["factor"] + config["offset"]
z_index = index
return joint_positions
return joint_positions ,z_index
def move_joints(self, resource_names, speed,x,y,z,option, x_joint=None, y_joint=None, z_joint=None):
if isinstance(resource_names, list):
resource_name_ = resource_names[0]
else:
resource_name_ = resource_names
parent_id = self.find_resource_parent(resource_name_)
def move_joints(self, resource_name, link_name, speed, x_joint=None, y_joint=None, z_joint=None):
transform = self.tf_buffer.lookup_transform(
link_name,
resource_name,
rclpy.time.Time()
)
x,y,z = transform.transform.translation.x, transform.transform.translation.y, transform.transform.translation.z
if x_joint is None:
x_joint_config = next(iter(self.joint_config['x'].items()))
elif x_joint in self.joint_config['x']:
x_joint_config = self.joint_config['x'][x_joint]
x_joint_config = next(iter(self.lh_devices[parent_id]['x'].items()))
elif x_joint in self.lh_devices[parent_id]['x']:
x_joint_config = self.lh_devices[parent_id]['x'][x_joint]
else:
raise ValueError(f"x_joint {x_joint} not in joint_config['x']")
if y_joint is None:
y_joint_config = next(iter(self.joint_config['y'].items()))
elif y_joint in self.joint_config['y']:
y_joint_config = self.joint_config['y'][y_joint]
y_joint_config = next(iter(self.lh_devices[parent_id]['y'].items()))
elif y_joint in self.lh_devices[parent_id]['y']:
y_joint_config = self.lh_devices[parent_id]['y'][y_joint]
else:
raise ValueError(f"y_joint {y_joint} not in joint_config['y']")
if z_joint is None:
z_joint_config = next(iter(self.joint_config['z'].items()))
elif z_joint in self.joint_config['z']:
z_joint_config = self.joint_config['z'][z_joint]
z_joint_config = next(iter(self.lh_devices[parent_id]['z'].items()))
elif z_joint in self.lh_devices[parent_id]['z']:
z_joint_config = self.lh_devices[parent_id]['z'][z_joint]
else:
raise ValueError(f"z_joint {z_joint} not in joint_config['z']")
joint_positions_target = self.inverse_kinematics(x,y,z,x_joint_config,y_joint_config,z_joint_config)
joint_positions_target, z_index = self.inverse_kinematics(x,y,z,parent_id,x_joint_config,y_joint_config,z_joint_config)
joint_positions_target_zero = copy.deepcopy(joint_positions_target)
joint_positions_target_zero[z_index] = 0
self.move_to(joint_positions_target_zero, speed, parent_id)
self.move_to(joint_positions_target, speed, parent_id)
if option == "pick":
link_name = self.lh_devices[parent_id]['joint_msg'].name[z_index]
self.resource_move(resource_name_, link_name, [0,1,2,3,4,5,6,7])
elif option == "drop":
self.resource_move(resource_name_, "world", [0,1,2,3,4,5,6,7])
self.move_to(joint_positions_target_zero, speed, parent_id)
def move_to(self, joint_positions ,speed, parent_id):
loop_flag = 0
while loop_flag < len(self.joint_config['joint_names']):
while loop_flag < len(joint_positions):
loop_flag = 0
for i in range(len(self.joint_config['joint_names'])):
distance = joint_positions_target[i] - self.j_msg.position[i]
for i in range(len(joint_positions)):
distance = joint_positions[i] - self.lh_devices[parent_id]['joint_msg'].position[i]
if distance == 0:
loop_flag += 1
continue
minus_flag = distance/abs(distance)
if abs(distance) > speed/self.rate:
self.j_msg.position[i] += minus_flag * speed/self.rate
self.lh_devices[parent_id]['joint_msg'].position[i] += minus_flag * speed/self.rate
else :
self.j_msg.position[i] = joint_positions_target[i]
self.lh_devices[parent_id]['joint_msg'].position[i] = joint_positions[i]
loop_flag += 1
@@ -195,10 +264,58 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
self.lh_joint_pub_callback()
time.sleep(1/self.rate)
def lh_joint_pub_callback(self):
self.j_msg.header.stamp = self.get_clock().now().to_msg()
self.j_pub.publish(self.j_msg)
for id, config in self.lh_devices.items():
config['joint_msg'].header.stamp = self.get_clock().now().to_msg()
self.j_pub.publish(config['joint_msg'])
class JointStatePublisher(Node):
def __init__(self):
super().__init__('joint_state_publisher')
self.lh_action = None
while self.lh_action is None:
self.lh_action = self.check_hl_joint_actions()
time.sleep(1)
self.lh_action_client = ActionClient(self, SendCmd, self.lh_action)
while not self.lh_action_client.wait_for_server(timeout_sec=1.0):
self.get_logger().info('等待 TfUpdate 服务器...')
def check_hl_joint_actions(self):
topics = self.get_topic_names_and_types()
for topic_item in topics:
topic_name, topic_types = topic_item
if 'action_msgs/msg/GoalStatusArray' in topic_types:
# 删除 /_action/status 部分
base_name = topic_name.replace('/_action/status', '')
# 检查最后一个部分是否为 tf_update
parts = base_name.split('/')
if parts and parts[-1] == 'hl_joint_action':
return base_name
return None
def send_resource_action(self, resource_id_list:list[str], link_name:str):
goal_msg = SendCmd.Goal()
str_dict = {}
for resource in resource_id_list:
str_dict[resource] = link_name
goal_msg.command = json.dumps(str_dict)
self.lh_action_client.send_goal_async(goal_msg)
def main():