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a599eb70e5
* 修改lh的json启动 * 修改lh的json启动 * 修改backend，做成sim的通用backend * 修改yaml的地址，3D模型适配网页生产环境 * 添加laiyu硬件连接 * 修改移液枪的状态判断方法， 修改移液枪的状态判断方法， 添加三轴的表定点与零点之间的转换 添加三轴真实移动的backend * 修改laiyu移液站 简化移动方法， 取消软件限制位置， 修改当值使用Z轴时也需要重新复位Z轴的问题 * 更新lh以及laiyu workshop 1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写 2,修改枪头判断标准，使用枪头自身判断而不是类的判断， 3,将归零参数用毫米计算，方便手动调整， 4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉 * 修改枪头动作 * 修改虚拟仿真方法 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@dp.tech>
52 lines
1.9 KiB
YAML
52 lines
1.9 KiB
YAML
Panels:
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- Class: rviz_common/Displays
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /MotionPlanning1
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- Class: rviz_common/Help
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Name: Help
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- Class: rviz_common/Views
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Name: Views
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Visualization Manager:
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Displays:
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- Class: rviz_default_plugins/Grid
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Name: Grid
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Value: true
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- Class: moveit_rviz_plugin/MotionPlanning
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Name: MotionPlanning
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Planned Path:
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Loop Animation: true
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State Display Time: 0.05 s
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Trajectory Topic: display_planned_path
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Planning Scene Topic: monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 1
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Scene Robot:
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Robot Alpha: 0.5
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Value: true
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Global Options:
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Fixed Frame: base_link
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Tools:
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- Class: rviz_default_plugins/Interact
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 2.0
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Focal Point:
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X: -0.1
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Y: 0.25
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Z: 0.30
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Name: Current View
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Pitch: 0.5
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Target Frame: base_link
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Yaw: -0.623
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Window Geometry:
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Height: 975
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QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Width: 1200
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