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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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9
unilabos/device_mesh/resource_visalization.py
View File

@@ -125,8 +125,13 @@ class ResourceVisualization:
new_dev.set("parent_link", "world") new_dev.set("parent_link", "world")
new_dev.set("mesh_path", str(self.mesh_path)) new_dev.set("mesh_path", str(self.mesh_path))
new_dev.set("device_name", node["id"]+"_") new_dev.set("device_name", node["id"]+"_")
if node["parent"] is not None: # if node["parent"] is not None:
new_dev.set("station_name", node["parent"]+'_') # new_dev.set("station_name", node["parent"]+'_')
print('o'*20)
node["parent"]
node["id"]
print('o'*20)
new_dev.set("x",str(float(node["position"]["x"])/1000)) new_dev.set("x",str(float(node["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["y"])/1000)) new_dev.set("y",str(float(node["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["z"])/1000)) new_dev.set("z",str(float(node["position"]["z"])/1000))

2
unilabos/devices/ros_dev/lh_joint_config.json
View File

@@ -15,7 +15,7 @@
"y":{ "y":{
"first_joint":{ "first_joint":{
"factor":-0.001, "factor":-0.001,
"offset":0.163 "offset":0.166
} }
}, },
"x":{ "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': if resource['class'] == 'liquid_handler':
deck_id = resource['config']['data']['children'][0]['_resource_child_name'] deck_id = resource['config']['data']['children'][0]['_resource_child_name']
deck_class = resource['config']['data']['children'][0]['_resource_type'].split(':')[-1] 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] = { self.lh_devices[key] = {
'joint_msg':JointState( 'joint_msg':JointState(
name=[f'{key}_{x}' for x in joint_config[deck_class]['joint_names']], 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) self.deck_list.append(deck_id)
print('='*20)
print(self.lh_devices)
print('='*20)
self.j_action = ActionServer( self.j_action = ActionServer(
self, self,
SendCmd, SendCmd,
@@ -103,7 +106,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
try: try:
if parent_id in self.deck_list: if parent_id in self.deck_list:
p_ = self.resources_config[parent_id]['parent'] p_ = self.resources_config[parent_id]['parent']
str_ = f'{p_}_{parent_id}' str_ = f'{parent_id}'
return str(str_) return str(str_)
else: else:
return self.find_resource_parent(parent_id) return self.find_resource_parent(parent_id)
@@ -215,6 +218,10 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
parent_id = self.find_resource_parent(resource_name_) parent_id = self.find_resource_parent(resource_name_)
print('!'*20)
print(parent_id)
print('!'*20)
if x_joint is None: if x_joint is None:
xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items())) xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items()))
x_joint_config = {xa:xb} x_joint_config = {xa:xb}

3
unilabos/ros/nodes/presets/resource_mesh_manager.py
View File

@@ -190,7 +190,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
pass pass
elif parent is not None and resource_id in self.resource_model: 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_","") # parent_link = f"{self.resource_config_dict[parent]['parent']}_{parent}_device_link".replace("None_","")
parent_link = f"{parent}_device_link".replace("None_","")
else: else: