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3d sim (#97)

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* 修改lh的json启动

* 修改lh的json启动

* 修改backend，做成sim的通用backend

* 修改yaml的地址，3D模型适配网页生产环境

* 添加laiyu硬件连接

* 修改移液枪的状态判断方法，

修改移液枪的状态判断方法，
添加三轴的表定点与零点之间的转换
添加三轴真实移动的backend

* 修改laiyu移液站

简化移动方法，
取消软件限制位置，
修改当值使用Z轴时也需要重新复位Z轴的问题

* 更新lh以及laiyu workshop

1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写

2,修改枪头判断标准，使用枪头自身判断而不是类的判断，

3,将归零参数用毫米计算，方便手动调整，

4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉

* 修改枪头动作

* 修改虚拟仿真方法

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@dp.tech>
This commit is contained in:
q434343
2025-11-15 02:50:17 +08:00
committed by GitHub
parent 0bf6994f95
commit a599eb70e5
98 changed files with 16477 additions and 126 deletions
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11
unilabos/ros/main_slave_run.py
View File

@@ -1,7 +1,9 @@
import json
# from nt import device_encoding
import threading
import time
from typing import Optional, Dict, Any, List
import uuid
import rclpy
from unilabos_msgs.srv._serial_command import SerialCommand_Response
@@ -81,14 +83,15 @@ def main(
resources_list,
resource_tracker=host_node.resource_tracker,
device_id="resource_mesh_manager",
device_uuid=str(uuid.uuid4()),
)
joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
lh_joint_pub = LiquidHandlerJointPublisher(
resources_config=resources_list, resource_tracker=host_node.resource_tracker
)
# lh_joint_pub = LiquidHandlerJointPublisher(
# resources_config=resources_list, resource_tracker=host_node.resource_tracker
# )
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
executor.add_node(lh_joint_pub)
# executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start()

1
unilabos/ros/nodes/base_device_node.py
View File

@@ -1567,6 +1567,7 @@ class ROS2DeviceNode:
or driver_class.__name__ == "LiquidHandlerAbstract"
or driver_class.__name__ == "LiquidHandlerBiomek"
or driver_class.__name__ == "PRCXI9300Handler"
or driver_class.__name__ == "TransformXYZHandler"
)
# 创建设备类实例

4
unilabos/ros/nodes/presets/joint_republisher.py
View File

@@ -1,3 +1,4 @@
import uuid
import rclpy,json
from rclpy.node import Node
from sensor_msgs.msg import JointState
@@ -6,7 +7,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class JointRepublisher(BaseROS2DeviceNode):
def __init__(self,device_id,resource_tracker):
def __init__(self,device_id,resource_tracker, **kwargs):
super().__init__(
driver_instance=self,
device_id=device_id,
@@ -15,6 +16,7 @@ class JointRepublisher(BaseROS2DeviceNode):
hardware_interface={},
print_publish=False,
resource_tracker=resource_tracker,
device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
)
# print('-'*20,device_id)

24
unilabos/ros/nodes/presets/resource_mesh_manager.py
View File

@@ -1,5 +1,6 @@
from pathlib import Path
import time
import uuid
import rclpy,json
from rclpy.node import Node
from std_msgs.msg import String,Header
@@ -25,7 +26,7 @@ from unilabos.resources.graphio import initialize_resources
from unilabos.registry.registry import lab_registry
class ResourceMeshManager(BaseROS2DeviceNode):
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50):
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50, **kwargs):
"""初始化资源网格管理器节点
Args:
@@ -41,10 +42,11 @@ class ResourceMeshManager(BaseROS2DeviceNode):
hardware_interface={},
print_publish=False,
resource_tracker=resource_tracker,
device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
)
self.resource_model = resource_model
self.resource_config_dict = {item['id']: item for item in resource_config}
self.resource_config_dict = {item['uuid']: item for item in resource_config}
self.move_group_ready = False
self.resource_tf_dict = {}
self.tf_broadcaster = TransformBroadcaster(self)
@@ -182,14 +184,16 @@ class ResourceMeshManager(BaseROS2DeviceNode):
self.get_logger().info('开始设置资源网格管理器')
#遍历resource_config中的资源配置，判断panent是否在resource_model中，
resource_tf_dict = {}
for resource_id, resource_config in resource_config_dict.items():
for resource_uuid, resource_config in resource_config_dict.items():
parent = None
resource_id = resource_config['id']
if resource_config['parent_uuid'] is not None and resource_config['parent_uuid'] != "":
parent = resource_config_dict[resource_config['parent_uuid']]['id']
parent = resource_config['parent']
parent_link = 'world'
if parent in self.resource_model:
parent_link = parent
elif parent is None and resource_id in self.resource_model:
pass
elif parent is not None and resource_id in self.resource_model:
# parent_link = f"{self.resource_config_dict[parent]['parent']}_{parent}_device_link".replace("None_","")
@@ -199,9 +203,9 @@ class ResourceMeshManager(BaseROS2DeviceNode):
continue
# 提取位置信息并转换单位
position = {
"x": float(resource_config['position']['x'])/1000,
"y": float(resource_config['position']['y'])/1000,
"z": float(resource_config['position']['z'])/1000
"x": float(resource_config['position']['position']['x'])/1000,
"y": float(resource_config['position']['position']['y'])/1000,
"z": float(resource_config['position']['position']['z'])/1000
}
rotation_dict = {
@@ -210,8 +214,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
"z": 0
}
if 'rotation' in resource_config['config']:
rotation_dict = resource_config['config']['rotation']
if 'rotation' in resource_config['position']:
rotation_dict = resource_config['position']['rotation']
# 从欧拉角转换为四元数
q = quaternion_from_euler(