mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
181 lines
7.4 KiB
Python
181 lines
7.4 KiB
Python
import os
|
||
from pathlib import Path
|
||
from launch import LaunchService
|
||
from launch import LaunchDescription
|
||
from launch_ros.actions import Node as nd
|
||
import xacro
|
||
from lxml import etree
|
||
|
||
|
||
class ResourceVisualization:
|
||
def __init__(self, device: dict, resource: dict, registry: 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,
|
||
从注册表中获取对应的3D模型文件,并使用ROS2和RViz进行可视化。
|
||
|
||
Args:
|
||
device (dict): 设备配置字典,包含设备的类型、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_dict = resource
|
||
self.resource_model = {}
|
||
self.resource_type = ['plate', 'container']
|
||
self.mesh_path = Path(__file__).parent.absolute()
|
||
self.enable_rviz = enable_rviz
|
||
|
||
self.srdf_str = '''
|
||
<?xml version="1.0" encoding="UTF-8"?>
|
||
<robot name="minimal">
|
||
|
||
</robot>
|
||
'''
|
||
self.robot_state_str= '''<?xml version="1.0" ?>
|
||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="full_dev">
|
||
<link name="world"/>
|
||
</robot>
|
||
'''
|
||
self.root = etree.fromstring(self.robot_state_str)
|
||
|
||
xacro_uri = self.root.nsmap["xacro"]
|
||
|
||
# 遍历设备节点
|
||
for node in device.values():
|
||
if node['type'] == 'device':
|
||
device_class = node['class']
|
||
|
||
# 检查设备类型是否在注册表中
|
||
if device_class not in registry.device_type_registry.keys():
|
||
print("="*20)
|
||
print(device_class)
|
||
print(registry.device_type_registry.keys())
|
||
print("="*20)
|
||
raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
|
||
|
||
elif "model" in registry.device_type_registry[device_class].keys():
|
||
model_config = registry.device_type_registry[device_class]['model']
|
||
|
||
if 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")
|
||
new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
|
||
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("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))
|
||
if "rotation" in node["config"]:
|
||
new_dev.set("r",str(float(node["config"]["rotation"]["z"])/1000))
|
||
|
||
|
||
elif node['type'] in self.resource_type:
|
||
# print(registry.resource_type_registry)
|
||
|
||
resource_class = node['class']
|
||
if resource_class not in registry.resource_type_registry.keys():
|
||
raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
|
||
elif "model" in registry.resource_type_registry[resource_class].keys():
|
||
model_config = registry.resource_type_registry[resource_class]['model']
|
||
if model_config['type'] == 'resource':
|
||
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']
|
||
}
|
||
|
||
|
||
re = etree.tostring(self.root, encoding="unicode")
|
||
doc = xacro.parse(re)
|
||
xacro.process_doc(doc)
|
||
self.urdf_str = doc.toxml()
|
||
|
||
|
||
def create_launch_description(self, urdf_str: str) -> LaunchDescription:
|
||
"""
|
||
创建launch描述，包含robot_state_publisher和move_group节点
|
||
|
||
Args:
|
||
urdf_str: URDF文本
|
||
|
||
Returns:
|
||
LaunchDescription: launch描述对象
|
||
"""
|
||
|
||
|
||
# 解析URDF文件
|
||
robot_description = urdf_str
|
||
|
||
# 创建robot_state_publisher节点
|
||
robot_state_publisher = nd(
|
||
package='robot_state_publisher',
|
||
executable='robot_state_publisher',
|
||
name='robot_state_publisher',
|
||
output='screen',
|
||
parameters=[{
|
||
'robot_description': robot_description,
|
||
'use_sim_time': False
|
||
}]
|
||
)
|
||
|
||
# joint_state_publisher_node = nd(
|
||
# package='joint_state_publisher_gui', # 或 joint_state_publisher
|
||
# executable='joint_state_publisher_gui',
|
||
# name='joint_state_publisher',
|
||
# output='screen'
|
||
# )
|
||
# 创建move_group节点
|
||
move_group = nd(
|
||
package='moveit_ros_move_group',
|
||
executable='move_group',
|
||
output='screen',
|
||
parameters=[{
|
||
'robot_description': robot_description,
|
||
'robot_description_semantic': self.srdf_str,
|
||
'capabilities': '',
|
||
'disable_capabilities': '',
|
||
'monitor_dynamics': False,
|
||
'publish_monitored_planning_scene': True,
|
||
'publish_robot_description_semantic': True,
|
||
'publish_planning_scene': True,
|
||
'publish_geometry_updates': True,
|
||
'publish_state_updates': True,
|
||
'publish_transforms_updates': True,
|
||
}]
|
||
)
|
||
|
||
# 将节点添加到launch描述中
|
||
self.launch_description.add_action(robot_state_publisher)
|
||
# self.launch_description.add_action(joint_state_publisher_node)
|
||
self.launch_description.add_action(move_group)
|
||
|
||
# 如果启用RViz,添加RViz节点
|
||
if self.enable_rviz:
|
||
rviz_node = nd(
|
||
package='rviz2',
|
||
executable='rviz2',
|
||
name='rviz2',
|
||
arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
|
||
output='screen'
|
||
)
|
||
self.launch_description.add_action(rviz_node)
|
||
|
||
return self.launch_description
|
||
|
||
def start(self) -> None:
|
||
"""
|
||
启动可视化服务
|
||
|
||
Args:
|
||
urdf_str: URDF文件路径
|
||
"""
|
||
launch_description = self.create_launch_description(self.urdf_str)
|
||
self.launch_service.include_launch_description(launch_description)
|
||
self.launch_service.run() |