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Reapply "修改物料跟随与物料添加逻辑"

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This reverts commit 3a60d2ae81.
This commit is contained in:
zhangshixiang
2025-05-20 17:12:51 +08:00
parent 3a60d2ae81
commit ae566f2bc2
5 changed files with 168 additions and 57 deletions
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7
unilabos/ros/main_slave_run.py
View File

@@ -9,6 +9,7 @@ import rclpy
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor
@@ -72,16 +73,18 @@ def main(
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_config,
resource_tracker= DeviceNodeResourceTracker(),
resource_tracker = host_node.resource_tracker,
device_id = 'resource_mesh_manager',
)
joint_republisher = JointRepublisher(
'joint_republisher',
DeviceNodeResourceTracker()
host_node.resource_tracker
)
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start()

57
unilabos/ros/nodes/presets/resource_mesh_manager.py
View File

@@ -91,6 +91,9 @@ class ResourceMeshManager(BaseROS2DeviceNode):
self.__collision_object_publisher = self.create_publisher(
CollisionObject, "/collision_object", 10
)
self.__planning_scene_publisher = self.create_publisher(
PlanningScene, "/planning_scene", 10
)
self.__attached_collision_object_publisher = self.create_publisher(
AttachedCollisionObject, "/attached_collision_object", 0
)
@@ -145,7 +148,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
"""刷新资源配置"""
registry = lab_registry
resource_config = json.loads(resource_config_str)
resource_config = json.loads(resource_config_str.replace("'",'"'))
if resource_config['id'] in self.resource_config_dict:
self.get_logger().info(f'资源 {resource_config["id"]} 已存在')
@@ -377,14 +380,15 @@ class ResourceMeshManager(BaseROS2DeviceNode):
def tf_update(self, goal_handle : ServerGoalHandle):
tf_update_msg = goal_handle.request
# 获取调用节点的信息
try:
cmd_dict = json.loads(tf_update_msg.command.replace("'",'"'))
self.__planning_scene = self._get_planning_scene_service.call(
GetPlanningScene.Request()
).scene
self.__planning_scene.is_diff = True
planning_scene = PlanningScene()
planning_scene.is_diff = True
planning_scene.robot_state.is_diff = True
for resource_id, target_parent in cmd_dict.items():
# 获取从resource_id到target_parent的转换
@@ -415,9 +419,32 @@ class ResourceMeshManager(BaseROS2DeviceNode):
}
self.attach_collision_object(id=resource_id,link_name=target_parent)
# self.attach_collision_object(id=resource_id,link_name=target_parent)
# time.sleep(0.02)
operation_attach = CollisionObject.ADD
operation_remove = CollisionObject.REMOVE
if target_parent == 'world':
operation_attach = CollisionObject.REMOVE
operation_remove = CollisionObject.ADD
remove_object = CollisionObject(
id=resource_id,
operation=operation_remove
)
planning_scene.world.collision_objects.append(remove_object)
collision_object = AttachedCollisionObject(
object=CollisionObject(
id=resource_id,
operation=operation_attach
)
)
if target_parent != 'world':
collision_object.link_name = target_parent
planning_scene.robot_state.attached_collision_objects.append(collision_object)
# collision_object = AttachedCollisionObject(
# id=resource_id,
# link_name=target_parent,
# object=CollisionObject(
# id=resource_id,
@@ -426,9 +453,12 @@ class ResourceMeshManager(BaseROS2DeviceNode):
# )
# self.__planning_scene.robot_state.attached_collision_objects.append(collision_object)
# req = ApplyPlanningScene.Request()
# req.scene = self.__planning_scene
# self._apply_planning_scene_service.call_async(req)
req = ApplyPlanningScene.Request()
req.scene = planning_scene
self._apply_planning_scene_service.call_async(req)
self.__planning_scene_publisher.publish(planning_scene)
# self.__collision_object_publisher.publish(CollisionObject())
self.publish_resource_tf()
except Exception as e:
@@ -452,6 +482,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
self.__planning_scene = self._get_planning_scene_service.call(
GetPlanningScene.Request()
).scene
planning_scene = PlanningScene()
planning_scene.is_diff = True
for resource_id, tf_info in resource_tf_dict.items():
if resource_id in self.resource_model:
@@ -479,7 +511,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
quat_xyzw=q,
frame_id=resource_id
)
self.__planning_scene.world.collision_objects.append(collision_object)
planning_scene.world.collision_objects.append(collision_object)
elif f"{tf_info['parent']}_" in self.resource_model:
# 获取资源的父级框架ID
id_ = f"{tf_info['parent']}_"
@@ -508,12 +540,13 @@ class ResourceMeshManager(BaseROS2DeviceNode):
frame_id=resource_id
)
self.__planning_scene.world.collision_objects.append(collision_object)
planning_scene.world.collision_objects.append(collision_object)
req = ApplyPlanningScene.Request()
req.scene = self.__planning_scene
req.scene = planning_scene
self._apply_planning_scene_service.call_async(req)
self.__planning_scene_publisher.publish(planning_scene)
self.publish_resource_tf()
self.get_logger().info('资源碰撞网格添加完成')