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添加机械臂和移液站

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zhangshixiang
2025-07-19 16:09:56 +08:00
parent ae712e35ab
commit 9f652fa78a
150 changed files with 9911 additions and 652 deletions
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60
unilabos/device_mesh/resource_visalization.py
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@@ -128,10 +128,6 @@ class ResourceVisualization:
# if node["parent"] is not None:
# new_dev.set("station_name", node["parent"]+'_')
print('o'*20)
node["parent"]
node["id"]
print('o'*20)
new_dev.set("x",str(float(node["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["z"])/1000))
@@ -141,7 +137,7 @@ class ResourceVisualization:
new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
if "device_config" in node["config"]:
for key, value in node["config"]["device_config"].items():
new_dev.set(key, str(float(value)))
new_dev.set(key, str(value))
# 添加ros2_controller
if node['class'].startswith('moveit.'):
@@ -164,10 +160,13 @@ class ResourceVisualization:
xacro.process_doc(doc)
self.urdf_str = doc.toxml()
re_srdf = etree.tostring(self.root_srdf, encoding="unicode")
doc_srdf = xacro.parse(re_srdf)
xacro.process_doc(doc_srdf)
self.urdf_str_srdf = doc_srdf.toxml()
if self.moveit_nodes:
self.moveit_init()
@@ -251,7 +250,9 @@ class ResourceVisualization:
kinematics_dict = self.moveit_nodes_kinematics
if self.moveit_nodes:
controllers = []
ros2_controllers = ParameterFile(f"{str(self.mesh_path)}/ros2_controllers.yaml", allow_substs=True)
@@ -288,10 +289,6 @@ class ResourceVisualization:
else:
ros2_controllers = None
# 创建robot_state_publisher节点
robot_state_publisher = nd(
package='robot_state_publisher',
@@ -306,34 +303,37 @@ class ResourceVisualization:
]
)
# 创建move_group节点
moveit_params =[{
'allow_trajectory_execution': True,
'robot_description': robot_description,
'robot_description_semantic': urdf_str_srdf,
'capabilities': '',
'disable_capabilities': '',
'monitor_dynamics': False,
'publish_monitored_planning_scene': True,
'publish_robot_description_semantic': True,
'publish_planning_scene': True,
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
# 'robot_description_planning': robot_description_planning,
},
robot_description_planning,
planning_pipelines,
]
if self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']:
moveit_params.append(self.moveit_controllers_yaml)
move_group = nd(
package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=[{
'allow_trajectory_execution': True,
'robot_description': robot_description,
'robot_description_semantic': urdf_str_srdf,
'robot_description_kinematics': kinematics_dict,
'capabilities': '',
'disable_capabilities': '',
'monitor_dynamics': False,
'publish_monitored_planning_scene': True,
'publish_robot_description_semantic': True,
'publish_planning_scene': True,
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
# 'robot_description_planning': robot_description_planning,
},
self.moveit_controllers_yaml,
# ompl_planning_pipeline_config,
robot_description_planning,
planning_pipelines,
]
parameters=moveit_params
)
# 将节点添加到launch描述中
self.launch_description.add_action(robot_state_publisher)
# self.launch_description.add_action(joint_state_publisher_node)