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修改rviz显示逻辑与joint_publisher，添加moveit2相关节点描述

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q434343
2026-03-23 00:00:57 +08:00
parent cdbca70222
commit 35bcf6765d
7 changed files with 1550 additions and 77 deletions
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28
unilabos/ros/main_slave_run.py
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@@ -51,6 +51,7 @@ def main(
bridges: List[Any] = [],
visual: str = "disable",
resources_mesh_config: dict = {},
resources_mesh_resource_list: list = [],
rclpy_init_args: List[str] = ["--log-level", "debug"],
discovery_interval: float = 15.0,
) -> None:
@@ -77,12 +78,12 @@ def main(
if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
# 将 ResourceTreeSet 转换为 list 用于 visual 组件
resources_list = (
[node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
if resources_config
else []
)
# 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
if resources_mesh_resource_list:
resources_list = resources_mesh_resource_list
else:
# fallback: 从 ResourceTreeSet 获取
resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_list,
@@ -90,7 +91,7 @@ def main(
device_id="resource_mesh_manager",
device_uuid=str(uuid.uuid4()),
)
joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
joint_republisher = JointRepublisher("joint_republisher","joint_republisher", host_node.resource_tracker)
# lh_joint_pub = LiquidHandlerJointPublisher(
# resources_config=resources_list, resource_tracker=host_node.resource_tracker
# )
@@ -114,6 +115,7 @@ def slave(
bridges: List[Any] = [],
visual: str = "disable",
resources_mesh_config: dict = {},
resources_mesh_resource_list: list = [],
rclpy_init_args: List[str] = ["--log-level", "debug"],
) -> None:
"""从节点函数"""
@@ -208,12 +210,12 @@ def slave(
if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
# 将 ResourceTreeSet 转换为 list 用于 visual 组件
resources_list = (
[node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
if resources_config
else []
)
# 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
if resources_mesh_resource_list:
resources_list = resources_mesh_resource_list
else:
# fallback: 从 ResourceTreeSet 获取
resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_list,