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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>
This commit is contained in:
q434343
GitHub
@@ -4,13 +4,14 @@
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"id": "Gripper1",
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"name": "假夹爪",
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"children": [
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"Plate1"
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],
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"parent": null,
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"type": "device",
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"class": "gripper.mock",
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"position": {
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"x": 620.6111111111111,
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"y": 171,
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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@@ -23,18 +24,120 @@
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"name": "Plate1",
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"children": [
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],
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"parent": null,
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"parent": "Gripper1",
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"type": "plate",
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"class": "nest_96_wellplate_2ml_deep",
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"class": "nest_96_wellplate_100ul_pcr_full_skirt",
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"position": {
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"x": 620.6111111111111,
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"y": 171,
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"z": 0
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"x": 0,
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"y": 0,
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"z": 69
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},
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"config": {
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},
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"data": {
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}
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},
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{
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"id": "ot_joint_publisher",
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"name": "ot_joint_publisher",
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"sample_id": null,
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"children": [
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],
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"parent": null,
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"type": "device",
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"class": "lh_joint_publisher",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"lh_id":"deck",
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"joint_config":
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{
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"joint_names":[
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"first_joint",
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"second_joint",
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"third_joint",
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"fourth_joint"
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],
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"y":{
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"first_joint":{
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"factor":-1,
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"offset":0.0
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}
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},
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"x":{
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"second_joint":{
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"factor":-1,
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"offset":0.0
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}
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},
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"z":{
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"third_joint":{
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"factor":1,
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"offset":0.0
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},
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"fourth_joint":{
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"factor":1,
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"offset":0.0
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}
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}
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}
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},
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"data": {}
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},
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{
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"id": "ot_joint_publisher",
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"name": "ot_joint_publisher",
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"sample_id": null,
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"children": [
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],
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"parent": null,
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"type": "device",
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"class": "lh_joint_publisher",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"lh_id":"deck",
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"joint_config":
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{
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"joint_names":[
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"first_joint",
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"second_joint",
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"third_joint",
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"fourth_joint"
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],
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"y":{
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"first_joint":{
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"factor":-1,
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"offset":0.0
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}
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},
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"x":{
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"second_joint":{
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"factor":-1,
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"offset":0.0
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}
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},
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"z":{
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"third_joint":{
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"factor":1,
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"offset":0.0
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},
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"fourth_joint":{
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"factor":1,
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"offset":0.0
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}
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}
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}
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},
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"data": {}
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}
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],
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"links": [
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