wznln
65d0cbe28a
Merge remote-tracking branch 'origin/main' into dev
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# Conflicts:
# unilabos/app/main.py
# unilabos/ros/main_slave_run.py
2025-05-06 11:04:34 +08:00
Guangxin Zhang
d1fbea3b7d
3 High level function of PLR ( #17 )
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* Add files via upload
Defined 3 high level functions to depict the action of LH, helper functions included (e.g. mix, touch_tip)
* Update action_defination.py
* Refined function and tests made on chatterbox backend.
* Refined the action, ready to use.
For now, only the on tip mode is tested.
I am a little worried about the move_to function, please pay attention to it. We may need to take the length of tip into account
* Update action_definition.py
---------
Co-authored-by: Junhan Chang <changjh@pku.edu.cn >
2025-05-06 11:01:37 +08:00
wznln
3c98c77cab
fix startup
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add ResourceCreateFromOuter.action
2025-05-06 10:39:54 +08:00
王俊杰
200ebaff31
add devices: laiyu zhida ( #20 )
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add_laiyu_zhida
2025-05-06 10:35:22 +08:00
wznln
d6b8104824
fix: missing paho-mqtt package
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bump version to 0.9.0
2025-05-06 09:43:29 +08:00
wznln
1223e05dcc
fix: missing hostname in devices_names
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fix: upload_file for model file
2025-05-06 09:40:33 +08:00
q434343
a52133b7d0
Device visualization ( #14 )
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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
---------
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com >
2025-05-06 09:37:57 +08:00
zhangshixiang
80380d1f4b
将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中
2025-05-02 23:45:43 +08:00
zhangshixiang
5668310401
在main中直接初始化republisher和物料的mesh节点
2025-05-02 07:40:28 +08:00
wznln
78239ab1a3
fix: missing ot
2025-05-01 17:53:47 +08:00
wznln
fa5db06347
fix: running logic
2025-05-01 17:46:53 +08:00
wznln
2b428080e7
fix: running logic
2025-05-01 17:42:46 +08:00
wznln
9eb271f64e
Merge remote-tracking branch 'origin/dev' into fork/q434343/device_visualization
2025-05-01 16:33:51 +08:00
Xuwznln
9d034bd343
Dev Sync ( #18 )
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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
* 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/
* fix: device.class possible null
* fix: HPLC additions with online service
* fix: slave mode spin not working
* fix: slave mode spin not working
* 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
---------
Co-authored-by: Harvey Que <Q-Query@outlook.com >
2025-05-01 15:02:36 +08:00
Xuwznln
01ac3415ae
Closes #3 . Closes #12 .
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Closes #3 . Closes #12 .
* 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
* 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/
* fix: device.class possible null
* fix: HPLC additions with online service
* fix: slave mode spin not working
* fix: slave mode spin not working
* 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
---------
Co-authored-by: Harvey Que <Q-Query@outlook.com >
2025-05-01 14:58:36 +08:00
wznln
752442cb37
feat: 支持env设置config
2025-05-01 14:52:50 +08:00
wznln
9d2bfec1dd
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
2025-05-01 14:36:15 +08:00
zhangshixiang
5212d2d8eb
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
2025-04-30 22:18:29 +08:00
zhangshixiang
44c191fe90
Merge branch 'device_visualization' of https://github.com/q434343/Uni-Lab-OS into device_visualization
2025-04-30 16:47:31 +08:00
wznln
7a51b2adc1
fix: slave mode spin not working
2025-04-30 15:48:33 +08:00
wznln
2d034f728a
fix: slave mode spin not working
2025-04-30 15:21:29 +08:00
wznln
8ab108c489
fix: HPLC additions with online service
2025-04-30 11:53:10 +08:00
wznln
4dbb6649b4
fix: device.class possible null
2025-04-29 22:48:25 +08:00
zhangshixiang
dc197bffe8
完成启动OT并联动rviz
2025-04-29 22:15:39 +08:00
zhangshixiang
49bb11b2a3
使用json启动plr与3D模型仿真
2025-04-29 22:15:39 +08:00
zhangshixiang
d407423aaa
添加关节发布节点与物料可视化节点进入unilab
2025-04-29 22:15:39 +08:00
zhangshixiang
111c3f42e4
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
2025-04-29 22:15:02 +08:00
zhangshixiang
2990e70c25
修改模型方向，在yaml中添加变换属性
2025-04-29 22:15:02 +08:00
zhangshixiang
0d24606d46
完成TF发布
2025-04-29 22:15:02 +08:00
zhangshixiang
2baa232b86
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
2025-04-29 22:15:02 +08:00
zhangshixiang
b7a16cdfc8
add 3d visualization
2025-04-29 22:14:18 +08:00
zhangshixiang
8921bcd9fb
完成启动OT并联动rviz
2025-04-29 22:13:34 +08:00
wznln
5038219fe6
fix: devices/
2025-04-29 16:08:45 +08:00
wznln
0d2f1be37a
fix: hplc status typo
2025-04-29 14:56:37 +08:00
wznln
6b649bfdec
feat: add hplc registry
2025-04-29 14:52:02 +08:00
wznln
ba6a43c594
feat: add hplc registry
2025-04-29 14:50:33 +08:00
wznln
ea6f25d1ce
feat: show machine name
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fix: host node registry not uploaded
2025-04-29 14:39:14 +08:00
wznln
e5749a8058
close #12
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feat: slave node registry
2025-04-29 13:42:30 +08:00
wznln
09fc17429e
feat: node_info_update srv
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fix: OTDeck cant create
2025-04-29 11:29:25 +08:00
zhangshixiang
bdf97be256
使用json启动plr与3D模型仿真
2025-04-29 10:08:34 +08:00
wznln
dbd1557095
Merge branch 'refs/heads/main' into dev
2025-04-29 10:04:56 +08:00
zhangshixiang
ff8b75bf1f
添加关节发布节点与物料可视化节点进入unilab
2025-04-27 19:07:39 +08:00
zhangshixiang
bed9720de3
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
2025-04-25 19:20:18 +08:00
zhangshixiang
1e01eae896
修改模型方向，在yaml中添加变换属性
2025-04-25 10:47:46 +08:00
zhangshixiang
6155ec2798
完成TF发布
2025-04-24 01:51:26 +08:00
zhangshixiang
279c5ed519
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
2025-04-24 00:59:43 +08:00
wznln
74ae2a88ac
Merge remote-tracking branch 'origin/main'
...
# Conflicts:
# unilabos/ros/nodes/base_device_node.py
2025-04-23 15:04:57 +08:00
wznln
f476b40983
fix: unit conversion
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feat: better attr publisher log
2025-04-23 15:04:08 +08:00
王俊杰
2f69480f92
unit convert
2025-04-23 14:53:29 +08:00
wznln
0cd11fa46b
fix: sync task no log output
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fix: registry typo
2025-04-23 14:35:18 +08:00
