Device visualization (#67)

* Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑修改物料跟随与物料添加逻辑将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220af, reversing changes made to 498c997ad7. * 修改物料放下时的方法，如果选择修改物料放下时的方法，如果选择drop_trash，则删除物料显示如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e5. * Reapply "change to debug level" This reverts commit 2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 * 添加机械臂和移液站 * 添加 * 添加硬件 * update * 添加 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
2026-02-07 23:45:10 +00:00 · 2025-08-01 01:06:10 +08:00
parent b63e281ab7
commit dcc970a091
163 changed files with 23767 additions and 695 deletions
--- a/unilabos/device_mesh/devices/hplc_station/joint_config.json
+++ b/unilabos/device_mesh/devices/hplc_station/joint_config.json
@@ -0,0 +1,14 @@
+{
+    "z_joint": {
+        "child":"z_link",
+        "axis" : "-z"
+    },
+    "x_joint": {
+        "child":"x_link",
+        "axis" : "x"
+    },
+    "y_joint": {
+        "child":"y_link",
+        "axis" : "y"
+    }   
+}
--- a/unilabos/device_mesh/devices/hplc_station/macro_device.xacro
+++ b/unilabos/device_mesh/devices/hplc_station/macro_device.xacro
@@ -0,0 +1,209 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="hplc_station" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}base_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}base_link">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.016555 0.76648 0.42623"/>
+        <mass value="3345.4"/>
+        <inertia ixx="707.32" ixy="-0.15257" ixz="-0.27572" iyy="740.04" iyz="-0.13481" izz="1091.1"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/base_link.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.79216 0.81961 0.93333 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/base_link.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.1335 -0.125 -0.073692"/>
+        <mass value="4.5437"/>
+        <inertia ixx="0.13672" ixy="3.0798E-17" ixz="1.0696E-19" iyy="0.13672" iyz="2.5459E-20" izz="0.27331"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/arm_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.79216 0.81961 0.93333 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_base_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="-0.5835 0.575 0.813"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+    <link name="${station_name}${device_name}ws_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.45395 0.36376 0.22824"/>
+        <mass value="15.878"/>
+        <inertia ixx="0.94748" ixy="3.4968E-05" ixz="4.426E-05" iyy="1.0589" iyz="-0.011663" izz="1.605"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/ws_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.79216 0.81961 0.93333 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/ws_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}ws_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="-0.75 -0.75 0.8"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}ws_base"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    
+    <link name="${station_name}${device_name}z_link">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.76043 1.5021 -0.36124"/>
+        <mass value="3404.5"/>
+        <inertia ixx="2801.7" ixy="-3.2275" ixz="-23.671" iyy="869.48" iyz="55.159" izz="3130.4"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/z_link.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/hplc_station/meshes/z_link.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}x_link">
+    </link>
+    <joint name="${station_name}${device_name}x_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}ws_base"/>
+      <child link="${station_name}${device_name}x_link"/>
+      <axis xyz="1 0 0"/>
+      <limit effort="0" lower="0" upper="0.5" velocity="0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}y_link">
+    </link>
+    <joint name="${station_name}${device_name}y_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}x_link"/>
+      <child link="${station_name}${device_name}y_link"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="0" upper="0.5" velocity="0"/>
+    </joint>
+
+    <joint name="${station_name}${device_name}z_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}y_link"/>
+      <child link="${station_name}${device_name}z_link"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="0" lower="0" upper="0.5" velocity="0"/>
+    </joint>
+
+
+    <link
+      name="${station_name}${device_name}mt_base">
+      <inertial>
+        <origin
+          xyz="0.351023411986924 0.445375400882133 0.128876815206488"
+          rpy="0 0 0" />
+        <mass
+          value="11.1062879385751" />
+        <inertia
+          ixx="0.143866977287068"
+          ixy="0.0137782180671174"
+          ixz="-0.000140346559252494"
+          iyy="0.14345824300898"
+          iyz="-0.000123577300295821"
+          izz="0.279834203406604" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="file://${mesh_path}/devices/hplc_station/meshes/mt_base.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="1 1 1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="file://${mesh_path}/devices/hplc_station/meshes/mt_base.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${station_name}${device_name}mt_joint"
+      type="fixed">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <parent
+        link="${station_name}${device_name}ws_base" />
+      <child
+        link="${station_name}${device_name}mt_base" />
+      <axis
+        xyz="0 0 0" />
+    </joint>
+
+  </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/hplc_station/meshes/arm_base.STL
+++ b/unilabos/device_mesh/devices/hplc_station/meshes/arm_base.STL
--- a/unilabos/device_mesh/devices/hplc_station/meshes/base_link.STL
+++ b/unilabos/device_mesh/devices/hplc_station/meshes/base_link.STL
--- a/unilabos/device_mesh/devices/hplc_station/meshes/mt_base.STL
+++ b/unilabos/device_mesh/devices/hplc_station/meshes/mt_base.STL
--- a/unilabos/device_mesh/devices/hplc_station/meshes/ws_base.STL
+++ b/unilabos/device_mesh/devices/hplc_station/meshes/ws_base.STL
--- a/unilabos/device_mesh/devices/hplc_station/meshes/z_link.STL
+++ b/unilabos/device_mesh/devices/hplc_station/meshes/z_link.STL
--- a/unilabos/device_mesh/devices/hplc_station/param_config.json
+++ b/unilabos/device_mesh/devices/hplc_station/param_config.json
@@ -0,0 +1,10 @@
+{
+    "private_param":
+    {
+
+    },
+    "public_param": 
+    {
+
+    }
+}