feat: vis 2d for plr

unilabos/app/main.py

@@ -70,16 +70,20 @@ def parse_args():
         help="信息页web服务的启动端口",
     )
     parser.add_argument(
-        "--open_browser",
-        type=bool,
-        default=True,
-        help="是否在启动时打开信息页",
+        "--disable_browser",
+        action='store_true',
+        help="是否在启动时关闭信息页",
+    )
+    parser.add_argument(
+        "--2d_vis",
+        action='store_true',
+        help="是否在pylabrobot实例启动时，同时启动可视化",
     )
     parser.add_argument(
         "--visual",
-        choices=["rviz", "web", "deck", "disable"],
+        choices=["rviz", "web", "disable"],
         default="disable",
-        help="选择可视化工具: rviz, web, deck(2D bird view)",
+        help="选择可视化工具: rviz, web",
     )
     return parser.parse_args()
 
@@ -111,6 +115,7 @@ def main():
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
+    BasicConfig.vis_2d_enable = args_dict["2d_vis"]
 
     from unilabos.resources.graphio import (
         read_node_link_json,
@@ -186,7 +191,7 @@ def main():
             resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
-            server_thread = threading.Thread(target=start_server)
+            server_thread = threading.Thread(target=start_server, args=(not args_dict["disable_browser"],))
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
             resource_visualization.start()
@@ -194,10 +199,10 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server()
+            start_server(open_browser=not args_dict["disable_browser"])
     else:
         start_backend(**args_dict)
-        start_server()
+        start_server(open_browser=not args_dict["disable_browser"])
 
 
 if __name__ == "__main__":

unilabos/config/config.py

@@ -13,6 +13,7 @@ class BasicConfig:
     is_host_mode = True  # 从registry.py移动过来
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
     machine_name = "undefined"
+    vis_2d_enable = False
 
 
 # MQTT配置

unilabos/ros/utils/driver_creator.py

@@ -225,6 +225,14 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
             def done_cb(*args):
                 logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
+                from unilabos.config.config import BasicConfig
+                if BasicConfig.vis_2d_enable:
+                    from pylabrobot.visualizer.visualizer import Visualizer
+                    vis = Visualizer(resource=self.device_instance, open_browser=True)
+                    def vis_done_cb(*args):
+                        logger.info(f"PyLabRobot设备实例开启了Visualizer {self.device_instance}")
+                    ROS2DeviceNode.run_async_func(vis.setup).add_done_callback(vis_done_cb)
+                    logger.debug(f"PyLabRobot设备实例提交开启Visualizer {self.device_instance}")
             ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)