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Device visualization (#67)

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* 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>
This commit is contained in:
q434343
2025-08-01 01:06:10 +08:00
committed by GitHub
parent b63e281ab7
commit dcc970a091
163 changed files with 23767 additions and 695 deletions
Download Patch File Download Diff File Expand all files Collapse all files

67
unilabos/device_mesh/resource_visalization.py
View File

@@ -92,18 +92,18 @@ class ResourceVisualization:
# 遍历设备节点
for node in device.values():
if node['type'] in self.resource_type or (node['type'] == 'device' and node['class'] != ''):
if (node['type'] in self.resource_type and node['class'] != '') or (node['type'] == 'device' and node['class'] != ''):
model_config = {}
if node['type'] in self.resource_type:
resource_class = node['class']
if resource_class not in registry.resource_type_registry.keys():
raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
raise ValueError(f"{node['id']}资源类型 {resource_class} 未在注册表中注册")
elif "model" in registry.resource_type_registry[resource_class].keys():
model_config = registry.resource_type_registry[resource_class]['model']
elif node['type'] == 'device' and node['class'] != '':
device_class = node['class']
if device_class not in registry.device_type_registry.keys():
raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
raise ValueError(f"{node['id']}设备类型 {device_class} 未在注册表中注册")
elif "model" in registry.device_type_registry[device_class].keys():
model_config = registry.device_type_registry[device_class]['model']
if model_config:
@@ -128,10 +128,6 @@ class ResourceVisualization:
# if node["parent"] is not None:
# 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("y",str(float(node["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["z"])/1000))
@@ -141,7 +137,7 @@ class ResourceVisualization:
new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
if "device_config" in node["config"]:
for key, value in node["config"]["device_config"].items():
new_dev.set(key, str(float(value)))
new_dev.set(key, str(value))
# 添加ros2_controller
if node['class'].startswith('moveit.'):
@@ -164,10 +160,13 @@ class ResourceVisualization:
xacro.process_doc(doc)
self.urdf_str = doc.toxml()
re_srdf = etree.tostring(self.root_srdf, encoding="unicode")
doc_srdf = xacro.parse(re_srdf)
xacro.process_doc(doc_srdf)
self.urdf_str_srdf = doc_srdf.toxml()
if self.moveit_nodes:
self.moveit_init()
@@ -251,7 +250,9 @@ class ResourceVisualization:
kinematics_dict = self.moveit_nodes_kinematics
if self.moveit_nodes:
controllers = []
ros2_controllers = ParameterFile(f"{str(self.mesh_path)}/ros2_controllers.yaml", allow_substs=True)
@@ -288,10 +289,6 @@ class ResourceVisualization:
else:
ros2_controllers = None
# 创建robot_state_publisher节点
robot_state_publisher = nd(
package='robot_state_publisher',
@@ -306,34 +303,38 @@ class ResourceVisualization:
]
)
# 创建move_group节点
moveit_params =[{
'allow_trajectory_execution': True,
'robot_description': robot_description,
'robot_description_semantic': urdf_str_srdf,
'robot_description_kinematics': kinematics_dict,
'capabilities': '',
'disable_capabilities': '',
'monitor_dynamics': False,
'publish_monitored_planning_scene': True,
'publish_robot_description_semantic': True,
'publish_planning_scene': True,
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
# 'robot_description_planning': robot_description_planning,
},
robot_description_planning,
planning_pipelines,
]
if self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']:
moveit_params.append(self.moveit_controllers_yaml)
move_group = nd(
package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=[{
'allow_trajectory_execution': True,
'robot_description': robot_description,
'robot_description_semantic': urdf_str_srdf,
'robot_description_kinematics': kinematics_dict,
'capabilities': '',
'disable_capabilities': '',
'monitor_dynamics': False,
'publish_monitored_planning_scene': True,
'publish_robot_description_semantic': True,
'publish_planning_scene': True,
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
# 'robot_description_planning': robot_description_planning,
},
self.moveit_controllers_yaml,
# ompl_planning_pipeline_config,
robot_description_planning,
planning_pipelines,
]
parameters=moveit_params
)
# 将节点添加到launch描述中
self.launch_description.add_action(robot_state_publisher)
# self.launch_description.add_action(joint_state_publisher_node)