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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>
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q434343
GitHub
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{
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"first_joint": {
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"child":"first_link",
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"axis" : "-y"
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},
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"second_joint": {
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"child":"second_link",
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"axis" : "-x"
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},
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"third_joint": {
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"child":"third_link",
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"axis" : "-z"
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},
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"fourth_joint": {
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"child":"fourth_link",
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"axis" : "-z"
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}
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}
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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="opentrons_liquid_handler"
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params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
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<joint name="${station_name}${device_name}base_link_joint" type="fixed">
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<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
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<parent link="${parent_link}"/>
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<child link="${station_name}${device_name}device_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="${station_name}${device_name}device_link"/>
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<joint name="${station_name}${device_name}device_link_joint" type="fixed">
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<origin xyz="-0.11565 0.496 0" rpy="0 0 0" />
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<parent link="${station_name}${device_name}device_link"/>
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<child link="${station_name}${device_name}main_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name='${station_name}${device_name}main_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}first_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}second_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}third_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}fourth_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name='${station_name}${device_name}first_joint' type='prismatic'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}first_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}second_joint' type='prismatic'>
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<parent link="${station_name}${device_name}first_link"/>
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<child link="${station_name}${device_name}second_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="-1 0 0"/>
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<limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}third_joint' type='prismatic'>
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<parent link="${station_name}${device_name}second_link"/>
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<child link="${station_name}${device_name}third_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 -1"/>
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<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
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<parent link="${station_name}${device_name}second_link"/>
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<child link="${station_name}${device_name}fourth_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 -1"/>
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<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
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</joint>
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<link name='${station_name}${device_name}socketTypeHEPAModule'/>
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<joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeHEPAModule"/>
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<origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
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</joint>
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</xacro:macro>
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</robot>
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{
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"private_param":
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{
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},
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"public_param":
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{
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}
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}
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