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>

unilabos/device_mesh/resources/generic_labware_tube_10_75/meta.json

@@ -0,0 +1,22 @@
+{
+    "fileName": "generic_labware_tube_10_75",
+    "related": [
+        "generic_labware_0.5ml_screw_cap_tube",
+        "generic_labware_0.5ml_tube_rack",
+        "generic_labware_12_well_plate",
+        "sarstedt_14x200mm_tube",
+        "sarstedt_18x200mm_tube",
+        "generic_labware_1ml_tube_rack",
+        "generic_labware_24_well_plate",
+        "generic_labware_2ml_screw_cap_tube",
+        "generic_labware_5ml_screw_cap_tube",
+        "generic_labware_6_well_plate",
+        "generic_labware_96_well_square",
+        "generic_labware_96_well_pcr_plate_round",
+        "generic_labware_framedtiprack",
+        "generic_labware_plate_lid",
+        "generic_labware_reservoir",
+        "generic_labware_tip_box",
+        "generic_labware_tube_10_75"
+    ]
+}

unilabos/device_mesh/resources/generic_labware_tube_10_75/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="generic_labware_tube_10_75">
+    <link name='0_base_link'>
+        <visual name='visual'>
+            <geometry>
+                <mesh filename="meshes/0_base.stl"/>
+            </geometry>
+            <material name="clay" />
+        </visual>
+    </link>
+</robot>

unilabos/device_mesh/resources/tecan_nested_tip_rack/meta.json

@@ -0,0 +1,86 @@
+{
+    "fileName": "tecan_nested_tip_rack",
+    "related": [
+        "tecan_techrom",
+        "tecan_holder_transfer_tool",
+        "tecan_fluent_9_grid_segment_cutout",
+        "tecan_fluent_centric_gripper",
+        "tecan_fluent_eccentric_gripper",
+        "tecan_evo100",
+        "tecan_fluent_mp_diti_nest_segment",
+        "tecan_fluent_4x100_trough",
+        "tecan_fluent_1080_extended",
+        "tecan_fluent_1_1_1000_trough",
+        "tecan_fluent_50ml_tube_runner_10_v2",
+        "tecan_fluent_15ml_tube_runner_16_v2",
+        "tecan_fluent_1_16_16_tube_runner",
+        "tecan_fluent_1.5ml_tube_runner_v2",
+        "tecan_fluent_1_24_10_tube_runner",
+        "tecan_fluent_1_24_13_tube_runner",
+        "tecan_fluent_3x320_reagent_trough_v2",
+        "tecan_fluent_32_tube_runner_v2",
+        "tecan_fluent_1_4_100_trough",
+        "tecan_fluent_2_grid_segment",
+        "tecan_fluent_2_4_100_trough_waste",
+        "tecan_fluent_3_grid_segment",
+        "tecan_fluent_nest_waste_segment_v2",
+        "tecan_fluent_320ml_reagent_trough",
+        "tecan_fluent_4_landscape_61mm_nest_segment",
+        "tecan_fluent_4_landscape_61mm_nest_segment_waste",
+        "tecan_fluent_4_landscape_7mm_nest_segment",
+        "tecan_fluent_4_landscape_7mm_nest_segment_waste",
+        "tecan_fluent_hotel_deck_4",
+        "tecan_fluent_480_extended",
+        "tecan_fluent_4x100_reagent_trough_v2",
+        "tecan_fluent_5_landscape_61mm_nest_segment",
+        "tecan_fluent_5_landscape_7mm_nest_segment",
+        "tecan_fluent_hotel_deck_5",
+        "tecan_fluent_6_grid_segment",
+        "tecan_fluent_nest_landscape_segment_v2",
+        "tecan_fluent_6_landscape_7mm_nest_segment",
+        "tecan_fluent_deck_segment_6_v2",
+        "tecan_fluent_fca_diti_segment_v2",
+        "tecan_fluent_6_nest_incubator",
+        "tecan_fluent_plate_nest",
+        "tecan_fluent_780_extended",
+        "tecan_fluent_plate_holder",
+        "tecan_fluent_8_grid_segment",
+        "tecan_fluent_8_grid_segment_evo",
+        "tecan_fluent_hotel_deck_9",
+        "tecan_carousel",
+        "tecan_carousel_stacker_10",
+        "tecan_carousel_stacker_25",
+        "tecan_carousel_stacker_6",
+        "tecan_fluent_coolheat_microplate_segment_v2",
+        "tecan_fluent_fca_diti_tray",
+        "tecan_fluent_trough_waste",
+        "tecan_fluent_id_left",
+        "tecan_fluent_id_middle",
+        "tecan_fluent_lower_6_grid_v2",
+        "tecan_fluent_mc384_nest",
+        "tecan_fluent_mca_44mm_nest",
+        "tecan_fluent_deck_segment_4_v2",
+        "tecan_fluent_mca_base_segment_384_v2",
+        "tecan_fluent_waste_module",
+        "tecan_fluent_reagent_block",
+        "tecan_fluent_tube_grippers",
+        "tecan_fluent_washstation_waste_v2",
+        "tecan_carrier_additive_trough_3_pce_max_100ml",
+        "tecan_carrier_384_well_mp_3_pos_accessible_roma",
+        "tecan_carrier_rack_3_diti_width_6",
+        "tecan_transport_box_diti_tray_1000ul",
+        "tecan_transport_box_diti_tray_200ul",
+        "tecan_magicprep_ngs_sample_deck",
+        "tecan_fluent_shelf_large",
+        "tecan_fluent_shelf_small",
+        "tecan_spacer_29_9_te_chrom",
+        "tecan_teshake_adapter_2",
+        "tecan_teshake_base",
+        "tecan_tevacs_base",
+        "tecan_tevacs_plate_park",
+        "tecan_tevacs_spacer",
+        "tecan_tevacs_vacuum",
+        "tecan_tip_box",
+        "tecan_nested_tip_rack"
+    ]
+}

unilabos/device_mesh/resources/tecan_nested_tip_rack/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tecan_nested_tip_rack">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/plate.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>