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Device visualization (#22)

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* 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>
This commit is contained in:
q434343
2025-05-07 02:12:29 +08:00
committed by GitHub
parent cd1e9a9f7d
commit f3637d4043
13 changed files with 9829 additions and 44 deletions
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0
unilabos/device_mesh/__init__.py Normal file
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18
unilabos/device_mesh/resource_visalization.py
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@@ -10,7 +10,7 @@ from unilabos.registry.registry import lab_registry
class ResourceVisualization:
def __init__(self, device: dict, resource: list, enable_rviz: bool = True):
def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
"""初始化资源可视化类
该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息,
@@ -18,13 +18,13 @@ class ResourceVisualization:
Args:
device (dict): 设备配置字典,包含设备的类型、位置等信息
resource (list): 资源配置列表,包含资源的类型、位置等信息
resource (dict): 资源配置字典,包含资源的类型、位置等信息
registry (dict): 注册表字典,包含设备和资源类型的注册信息
enable_rviz (bool, optional): 是否启用RViz可视化. Defaults to True.
"""
self.launch_service = LaunchService()
self.launch_description = LaunchDescription()
self.resource_list = resource
self.resource_dict = resource
self.resource_model = {}
self.resource_type = ['deck', 'plate', 'container']
self.mesh_path = Path(__file__).parent.absolute()
@@ -64,11 +64,12 @@ class ResourceVisualization:
self.resource_model[node['id']] = {
'mesh': f"{str(self.mesh_path)}/resources/{model_config['mesh']}",
'mesh_tf': model_config['mesh_tf']}
if model_config['children_mesh'] is not None:
self.resource_model[f"{node['id']}_"] = {
'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}",
'mesh_tf': model_config['children_mesh_tf']
}
if 'children_mesh' in model_config:
if model_config['children_mesh'] is not None:
self.resource_model[f"{node['id']}_"] = {
'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}",
'mesh_tf': model_config['children_mesh_tf']
}
elif model_config['type'] == 'device':
new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
@@ -76,6 +77,7 @@ class ResourceVisualization:
new_dev.set("parent_link", "world")
new_dev.set("mesh_path", str(self.mesh_path))
new_dev.set("device_name", node["id"]+"_")
new_dev.set("station_name", node["parent"]+'_')
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))