zhangshixiang
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ae566f2bc2
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Reapply "修改物料跟随与物料添加逻辑"
This reverts commit 3a60d2ae81.
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2025-05-20 17:12:51 +08:00 |
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zhangshixiang
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3a60d2ae81
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Revert "修改物料跟随与物料添加逻辑"
This reverts commit 498c997ad7.
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2025-05-20 17:12:27 +08:00 |
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zhangshixiang
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fa727220af
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Merge remote-tracking branch 'upstream/dev' into device_visualization
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2025-05-20 14:36:19 +08:00 |
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zhangshixiang
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498c997ad7
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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
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2025-05-16 18:43:26 +08:00 |
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wznln
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4decd9a174
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Merge branch '24-high-level-liquidhandler' into dev
# Conflicts:
# unilabos/app/main.py
# unilabos/registry/devices/liquid_handler.yaml
# unilabos_msgs/CMakeLists.txt
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2025-05-14 22:35:56 +08:00 |
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Junhan Chang
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83c765f0ab
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unify liquid_handler definition
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2025-05-14 22:14:14 +08:00 |
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zhangshixiang
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6a33f9986b
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提取lh的joint发布
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2025-05-13 21:45:13 +08:00 |
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wznln
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3600b6f934
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mq client id
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2025-05-13 19:17:21 +08:00 |
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wznln
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f0576e5666
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identify debug msg
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2025-05-13 19:03:39 +08:00 |
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wznln
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8e1dbb56b1
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add resource creat easy action
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2025-05-13 18:36:02 +08:00 |
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Xuwznln
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5a564c0c05
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Dev v0.9.0 (#23)
Add high-level PLR functions
Add Laiyu/Zhida driver support
Fix ROS node discovery issues
Add hostname and resource query support
Fix ROS message conversion logic
Support configuration via environment variables
* 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
---------
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
v0.9.0
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2025-05-07 17:37:03 +08:00 |
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wznln
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013c25f3aa
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Merge remote-tracking branch 'origin/dev' into fork/q434343/device_visualization
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2025-05-07 04:10:25 +08:00 |
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zhangshixiang
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3d71c8bc78
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Merge branch 'dev' into device_visualization
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2025-05-07 04:05:12 +08:00 |
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zhangshixiang
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42f0994147
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tijiao
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2025-05-07 04:04:42 +08:00 |
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wznln
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4223f9b72c
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fix: msg converter
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2025-05-07 04:04:02 +08:00 |
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wznln
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bec58e1301
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fix: jobadd
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2025-05-07 03:33:13 +08:00 |
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wznln
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6f9773157c
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fix: jobadd
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2025-05-07 03:26:22 +08:00 |
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zhangshixiang
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da50e435c1
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提交
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2025-05-07 03:19:30 +08:00 |
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wznln
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34e03bbd6e
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fix: aspirate
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2025-05-07 03:09:46 +08:00 |
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zhangshixiang
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ad5168c3eb
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Merge branch 'dev' into device_visualization
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2025-05-07 03:06:41 +08:00 |
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wznln
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2dde5b6aae
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fix: aspirate
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2025-05-07 03:02:35 +08:00 |
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wznln
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45a73e2f6d
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fix: aspirate
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2025-05-07 02:51:56 +08:00 |
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wznln
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fbff27a52d
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fix: aspirate
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2025-05-07 02:46:33 +08:00 |
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zhangshixiang
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1b190ee62f
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Merge remote-tracking branch 'upstream/dev' into device_visualization
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2025-05-07 02:38:32 +08:00 |
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wznln
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83abf877b5
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fix: multi channel
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2025-05-07 02:36:53 +08:00 |
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q434343
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f3637d4043
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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>
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2025-05-07 02:12:29 +08:00 |
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zhangshixiang
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c12c2a876c
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初始化两个plate
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2025-05-07 02:06:01 +08:00 |
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wznln
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6cdd8c18e8
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fix: salve auto run rviz
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2025-05-07 00:45:37 +08:00 |
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wznln
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3d60cb36b8
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fix: cloud bridge error fallback to local
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2025-05-07 00:31:05 +08:00 |
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wznln
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5df304bc64
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fix: browser on rviz
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2025-05-07 00:11:29 +08:00 |
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wznln
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6d5ada06de
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Merge remote-tracking branch 'q434343/device_visualization' into device_visualization
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2025-05-07 00:06:56 +08:00 |
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zhangshixiang
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aad23596b6
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fix
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2025-05-07 00:01:59 +08:00 |
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wznln
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b43f2321cd
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Merge remote-tracking branch 'origin/dev' into device_visualization
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2025-05-06 23:58:56 +08:00 |
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zhangshixiang
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8617b1284f
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Merge remote-tracking branch 'upstream/dev' into device_visualization
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2025-05-06 23:39:22 +08:00 |
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wznln
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cd1e9a9f7d
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feat: vis 2d for plr
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2025-05-06 23:32:54 +08:00 |
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zhangshixiang
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3d607db49a
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add action
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2025-05-06 23:27:42 +08:00 |
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wznln
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3dc62e3e99
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feat: append resource
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2025-05-06 23:13:29 +08:00 |
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zhangshixiang
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d199fda9a5
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编写mesh添加action
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2025-05-06 22:01:23 +08:00 |
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wznln
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ed2858a610
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feat: add outer resource
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2025-05-06 21:57:34 +08:00 |
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wznln
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de28c50d8b
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feat: fix boolean null in registry action data
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2025-05-06 20:33:32 +08:00 |
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wznln
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e373220ce3
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feat: add more necessary params
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2025-05-06 20:18:49 +08:00 |
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wznln
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b6a3f17e9b
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feat: resource tracker support dict
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2025-05-06 17:28:06 +08:00 |
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wznln
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49a9f05c51
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fix: host node should not be re_discovered
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2025-05-06 16:26:55 +08:00 |
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wznln
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32e370a562
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add: bind_parent_ids to resource create action
fix: message convert string
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2025-05-06 16:24:19 +08:00 |
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wznln
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852d10d751
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pass device config to device class
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2025-05-06 14:44:42 +08:00 |
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wznln
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b47f67d129
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host node add_resource_from_outer
fix cmake list
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2025-05-06 13:28:24 +08:00 |
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wznln
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194985222e
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update actions
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2025-05-06 12:55:24 +08:00 |
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wznln
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948f590b47
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update actions
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2025-05-06 12:30:48 +08:00 |
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wznln
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164417e1cf
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Merge remote-tracking branch 'origin/main' into dev
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2025-05-06 11:15:47 +08:00 |
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wznln
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1a107cfd18
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fix type hint
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2025-05-06 11:15:36 +08:00 |
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