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完成启动OT并联动rviz

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This commit is contained in:
zhangshixiang
2025-04-29 22:13:34 +08:00
parent bdf97be256
commit 8921bcd9fb
8 changed files with 257 additions and 103 deletions
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2
unilabos/device_mesh/resource_visalization.py
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@@ -45,7 +45,7 @@ class ResourceVisualization:
# 遍历设备节点
for node in device.values():
if node['type'] == 'device':
if node['type'] == 'device' and node['class'] != '':
device_class = node['class']
# 检查设备类型是否在注册表中

158
unilabos/device_mesh/view_robot.rviz
View File

@@ -12,6 +12,10 @@ Panels:
- /PlanningScene1/Scene Geometry1
- /RobotState1
- /RobotState1/Links1
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
Splitter Ratio: 0.5
Tree Height: 345
- Class: rviz_common/Selection
@@ -161,44 +165,44 @@ Visualization Manager:
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Gripper1_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
Gripper1_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
Gripper1_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
Gripper1_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
@@ -227,7 +231,7 @@ Visualization Manager:
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: ""
Query Goal State: true
Query Goal State: false
Query Start State: false
Show Workspace: false
Start State Alpha: 1
@@ -248,44 +252,44 @@ Visualization Manager:
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Gripper1_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
Gripper1_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Gripper1_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
Gripper1_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
Gripper1_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
@@ -356,10 +360,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.40479576587677
Pitch: 0.4347957372665405
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 6.070750713348389
Yaw: 6.020748138427734
Saved: ~
Window Geometry:
Displays: