zhangshixiang
c12c2a876c
初始化两个plate
2025-05-07 02:06:01 +08:00
wznln
6cdd8c18e8
fix: salve auto run rviz
2025-05-07 00:45:37 +08:00
wznln
3d60cb36b8
fix: cloud bridge error fallback to local
2025-05-07 00:31:05 +08:00
wznln
5df304bc64
fix: browser on rviz
2025-05-07 00:11:29 +08:00
wznln
b43f2321cd
Merge remote-tracking branch 'origin/dev' into device_visualization
2025-05-06 23:58:56 +08:00
zhangshixiang
8617b1284f
Merge remote-tracking branch 'upstream/dev' into device_visualization
2025-05-06 23:39:22 +08:00
wznln
cd1e9a9f7d
feat: vis 2d for plr
2025-05-06 23:32:54 +08:00
zhangshixiang
3d607db49a
add action
2025-05-06 23:27:42 +08:00
wznln
3dc62e3e99
feat: append resource
2025-05-06 23:13:29 +08:00
zhangshixiang
d199fda9a5
编写mesh添加action
2025-05-06 22:01:23 +08:00
wznln
ed2858a610
feat: add outer resource
2025-05-06 21:57:34 +08:00
wznln
de28c50d8b
feat: fix boolean null in registry action data
2025-05-06 20:33:32 +08:00
wznln
e373220ce3
feat: add more necessary params
2025-05-06 20:18:49 +08:00
wznln
b6a3f17e9b
feat: resource tracker support dict
2025-05-06 17:28:06 +08:00
wznln
49a9f05c51
fix: host node should not be re_discovered
2025-05-06 16:26:55 +08:00
wznln
32e370a562
add: bind_parent_ids to resource create action
...
fix: message convert string
2025-05-06 16:24:19 +08:00
wznln
852d10d751
pass device config to device class
2025-05-06 14:44:42 +08:00
wznln
b47f67d129
host node add_resource_from_outer
...
fix cmake list
2025-05-06 13:28:24 +08:00
wznln
194985222e
update actions
2025-05-06 12:55:24 +08:00
wznln
948f590b47
update actions
2025-05-06 12:30:48 +08:00
wznln
164417e1cf
Merge remote-tracking branch 'origin/main' into dev
2025-05-06 11:15:47 +08:00
wznln
1a107cfd18
fix type hint
2025-05-06 11:15:36 +08:00
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 )
...
add_laiyu_zhida
2025-05-06 10:35:22 +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 )
...
* 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 .
...
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
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
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
