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remove parent's parent link

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zhangshixiang
2025-06-09 09:36:04 +08:00
parent 4fb9d9ce8b
commit b4db784c01
4 changed files with 20 additions and 7 deletions
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2
unilabos/devices/ros_dev/lh_joint_config.json
View File

@@ -15,7 +15,7 @@
"y":{
"first_joint":{
"factor":-0.001,
"offset":0.163
"offset":0.166
}
},
"x":{

13
unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
View File

@@ -57,7 +57,8 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
if resource['class'] == 'liquid_handler':
deck_id = resource['config']['data']['children'][0]['_resource_child_name']
deck_class = resource['config']['data']['children'][0]['_resource_type'].split(':')[-1]
key = f'{resource["id"]}_{deck_id}'
key = f'{deck_id}'
# key = f'{resource["id"]}_{deck_id}'
self.lh_devices[key] = {
'joint_msg':JointState(
name=[f'{key}_{x}' for x in joint_config[deck_class]['joint_names']],
@@ -67,7 +68,9 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
}
self.deck_list.append(deck_id)
print('='*20)
print(self.lh_devices)
print('='*20)
self.j_action = ActionServer(
self,
SendCmd,
@@ -103,7 +106,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
try:
if parent_id in self.deck_list:
p_ = self.resources_config[parent_id]['parent']
str_ = f'{p_}_{parent_id}'
str_ = f'{parent_id}'
return str(str_)
else:
return self.find_resource_parent(parent_id)
@@ -215,6 +218,10 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
parent_id = self.find_resource_parent(resource_name_)
print('!'*20)
print(parent_id)
print('!'*20)
if x_joint is None:
xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items()))
x_joint_config = {xa:xb}