添加硬件

unilabos/device_mesh/resource_visalization.py

@@ -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:

unilabos/device_mesh/resources/hplc_plate/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hplc_plate">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/hplc_plate.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/resources/plate_96_high/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="plate_96_high">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/plate_96_high.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/resources/tiprack_96_high/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tiprack_96_high">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/tiprack_96_high.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/ros2_controllers.yaml

@@ -1,31 +1,5 @@
-arm_slider_arm_controller:
-  ros__parameters:
-    command_interfaces:
-    - position
-    joints:
-    - arm_slider_arm_base_joint
-    - arm_slider_arm_link_1_joint
-    - arm_slider_arm_link_2_joint
-    - arm_slider_arm_link_3_joint
-    - arm_slider_gripper_base_joint
-    state_interfaces:
-    - position
-    - velocity
-arm_slider_gripper_controller:
-  ros__parameters:
-    command_interfaces:
-    - position
-    joints:
-    - arm_slider_gripper_right_joint
-    state_interfaces:
-    - position
-    - velocity
 controller_manager:
   ros__parameters:
-    arm_slider_arm_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    arm_slider_gripper_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
     update_rate: 100