Device visualization

test/experiments/test_copy.json

@@ -99,7 +99,7 @@
             "position": {
                 "x": 10.87,
                 "y": 70.77,
-                "z": 10
+                "z": 9.47
             },
             "config": {
                 "type": "TipSpot",

unilabos/app/main.py

@@ -191,7 +191,9 @@ def _exit(signum, frame):
             resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
-            server_thread = threading.Thread(target=start_server, args=(not args_dict["disable_browser"],))
+            server_thread = threading.Thread(target=start_server, kwargs=dict(
+                open_browser=not args_dict["disable_browser"]
+            ))
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
             resource_visualization.start()

unilabos/device_mesh/resource_visalization.py

@@ -10,21 +10,21 @@
 
 
 class ResourceVisualization:
-    def __init__(self, device: dict, resource: list, enable_rviz: bool = True):
+    def __init__(self, device: dict, resource: 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 (list): 资源配置列表,包含资源的类型、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_list = resource
+        self.resource_dict = resource
         self.resource_model = {}
         self.resource_type = ['deck', 'plate', 'container']
         self.mesh_path = Path(__file__).parent.absolute()
@@ -64,18 +64,20 @@ def __init__(self, device: dict, resource: list, enable_rviz: bool = True):
                         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']
-                            }
+                        if 'children_mesh' in model_config:
+                            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']
+                                }
                     elif 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("station_name", node["parent"]+'_')
                         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))

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -5,7 +5,7 @@
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.action import ActionServer
 from sensor_msgs.msg import JointState
-from ilabos_msgs.action import SendCmd
+from unilabos_msgs.action import SendCmd
 from rclpy.action.server import ServerGoalHandle
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 from tf_transformations import quaternion_from_euler

unilabos/registry/resources/opentrons/plates.yaml

@@ -39,6 +39,10 @@ nest_96_wellplate_2ml_deep:
   class: 
     module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_2ml_deep
     type: pylabrobot
+  model: 
+    type: resource
+    mesh: tecan_nested_tip_rack/meshes/plate.stl
+    mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]
 
 nest_96_wellplate_200ul_flat:
   description: Nest 96 wellplate 200ul flat

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -68,7 +68,7 @@ opentrons_96_filtertiprack_1000ul:
     mesh: tecan_nested_tip_rack/meshes/plate.stl
     mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
-    children_mesh_tf: [0.0018, 0.0018, 0, -1.5708,0, 0]
+    children_mesh_tf: [0.0085, 0.006, 0, -1.5708,0, 0]
 
 opentrons_96_filtertiprack_20ul:
   description: Opentrons 96 filtertiprack 20ul

unilabos/resources/graphio.py

@@ -394,14 +394,14 @@ def resource_ulab_to_plr_inner(resource: dict):
     return resource_plr
 
 
-def resource_plr_to_ulab(resource_plr: "ResourcePLR"):
+def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
     def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict:
         r = {
             "id": d["name"],
             "name": d["name"],
             "sample_id": None,
             "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]],
-            "parent": d["parent_name"] if d["parent_name"] else None,
+            "parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None,
             "type": "device",  # FIXME plr自带的type是python class name
             "class": d.get("class", ""),
             "position": (
@@ -417,6 +417,7 @@ def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict:
     d = resource_plr.serialize()
     all_states = resource_plr.serialize_all_state()
     r = resource_plr_to_ulab_inner(d, all_states)
+
     return r
 
 
@@ -451,7 +452,8 @@ def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]
 
         if resource_class_config["type"] == "pylabrobot":
             resource_plr = RESOURCE(name=resource_config["name"])
-            r = resource_plr_to_ulab(resource_plr=resource_plr)
+            r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
+            # r = resource_plr_to_ulab(resource_plr=resource_plr)
             if resource_config.get("position") is not None:
                 r["position"] = resource_config["position"]
             r = tree_to_list([r])
@@ -475,8 +477,9 @@ def initialize_resources(resources_config) -> list[dict]:
     """
 
     from unilabos.registry.registry import lab_registry
-
     resources = []
     for resource_config in resources_config:
+
         resources.extend(initialize_resource(resource_config, lab_registry))
+
     return resources

unilabos/ros/main_slave_run.py

@@ -120,6 +120,21 @@ def slave(
     n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
     executor.add_node(n)
 
+    if visual != "disable":
+        resource_mesh_manager = ResourceMeshManager(
+            resources_mesh_config,
+            resources_config,
+            resource_tracker= DeviceNodeResourceTracker(),
+            device_id = 'resource_mesh_manager',
+        )
+        joint_republisher = JointRepublisher(
+            'joint_republisher',
+            DeviceNodeResourceTracker()
+        )
+
+        executor.add_node(resource_mesh_manager)
+        executor.add_node(joint_republisher)
+
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
     thread.start()
 

unilabos/ros/nodes/presets/host_node.py

@@ -643,7 +643,8 @@ def _resource_get_callback(self, request, response):
                 self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
             except Exception as e:
                 self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
-                r = []
+                r = [resource for resource in self.resources_config if resource.get("id") == request.id]
+                self.lab_logger().warning(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
         else:
             # 本地物料服务，根据 id 查询物料
             r = [resource for resource in self.resources_config if resource.get("id") == request.id]