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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 commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 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 commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 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 commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * 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
GitHub
@@ -58,6 +58,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
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self.__old_planning_scene = None
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self.__old_allowed_collision_matrix = None
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self.mesh_path = Path(__file__).parent.parent.parent.parent.absolute()
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self.msg_type = 'resource_status'
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self.resource_status_dict = {}
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callback_group = ReentrantCallbackGroup()
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self._get_planning_scene_service = self.create_client(
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@@ -194,7 +196,6 @@ class ResourceMeshManager(BaseROS2DeviceNode):
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parent_link = f"{parent}_device_link".replace("None_","")
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else:
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continue
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# 提取位置信息并转换单位
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position = {
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@@ -293,48 +294,64 @@ class ResourceMeshManager(BaseROS2DeviceNode):
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return
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changed_poses = {}
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resource_tf_dict = copy.deepcopy(self.resource_tf_dict)
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for resource_id in resource_tf_dict.keys():
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try:
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# 获取从resource_id到world的转换
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if self.msg_type == 'resource_pose':
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for resource_id in resource_tf_dict.keys():
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try:
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# 获取从resource_id到world的转换
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transform = self.tf_buffer.lookup_transform(
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"world",
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resource_id,
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rclpy.time.Time(seconds=0),
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# rclpy.duration.Duration(seconds=5)
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)
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# 提取当前位姿信息
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current_pose = {
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"position": {
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"x": transform.transform.translation.x,
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"y": transform.transform.translation.y,
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"z": transform.transform.translation.z
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},
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"rotation": {
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"x": transform.transform.rotation.x,
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"y": transform.transform.rotation.y,
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"z": transform.transform.rotation.z,
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"w": transform.transform.rotation.w
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transform = self.tf_buffer.lookup_transform(
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"world",
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resource_id,
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rclpy.time.Time(seconds=0),
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# rclpy.duration.Duration(seconds=5)
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)
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# 提取当前位姿信息
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current_pose = {
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"position": {
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"x": transform.transform.translation.x,
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"y": transform.transform.translation.y,
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"z": transform.transform.translation.z
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},
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"rotation": {
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"x": transform.transform.rotation.x,
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"y": transform.transform.rotation.y,
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"z": transform.transform.rotation.z,
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"w": transform.transform.rotation.w
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}
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}
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}
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# 检查是否存在旧位姿记录
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# 检查是否存在旧位姿记录
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if resource_id not in self.old_resource_pose:
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# 如果没有旧记录，则认为是新资源，记录变化
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changed_poses[resource_id] = current_pose
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self.old_resource_pose[resource_id] = current_pose
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else:
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# 比较当前位姿与旧位姿
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old_pose = self.old_resource_pose[resource_id]
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if (not self._is_pose_equal(current_pose, old_pose)):
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# 如果位姿发生变化，记录新位姿
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changed_poses[resource_id] = current_pose
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self.old_resource_pose[resource_id] = current_pose
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except Exception as e:
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self.get_logger().warning(f"获取资源 {resource_id} 的世界坐标变换失败: {e}")
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elif self.msg_type == 'resource_status':
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for resource_id, resource_status in resource_tf_dict.items():
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if resource_id not in self.old_resource_pose:
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# 如果没有旧记录，则认为是新资源，记录变化
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changed_poses[resource_id] = current_pose
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self.old_resource_pose[resource_id] = current_pose
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changed_poses[resource_id] = resource_status['parent']
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self.old_resource_pose[resource_id] = resource_status['parent']
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else:
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# 比较当前位姿与旧位姿
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old_pose = self.old_resource_pose[resource_id]
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if (not self._is_pose_equal(current_pose, old_pose)):
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if resource_status['parent'] != old_pose:
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# 如果位姿发生变化，记录新位姿
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changed_poses[resource_id] = current_pose
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self.old_resource_pose[resource_id] = current_pose
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except Exception as e:
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self.get_logger().warning(f"获取资源 {resource_id} 的世界坐标变换失败: {e}")
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changed_poses[resource_id] = resource_status['parent']
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self.old_resource_pose[resource_id] = resource_status['parent']
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if changed_poses != {}:
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self.zero_count = 0
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changed_poses_msg = String()
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