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修改角度读取方式

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zhangshixiang
2026-04-14 15:58:37 +08:00
parent c001f6a151
commit a45db46cf1
8 changed files with 254 additions and 201 deletions
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9
unilabos/device_mesh/resource_visalization.py
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@@ -132,10 +132,7 @@ class ResourceVisualization:
new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
if "rotation" in node["config"]:
new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
if "pose" in node:
new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000))
new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000))
@@ -143,6 +140,10 @@ class ResourceVisualization:
new_dev.set("rx",str(float(node["pose"]["rotation"]["x"])))
new_dev.set("ry",str(float(node["pose"]["rotation"]["y"])))
new_dev.set("r",str(float(node["pose"]["rotation"]["z"])))
if "rotation" in node["config"]:
new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
if "device_config" in node["config"]:
for key, value in node["config"]["device_config"].items():
new_dev.set(key, str(value))

26
unilabos/device_mesh/ros2_controllers.yaml
View File

@@ -1,5 +1,31 @@
arm_slider_arm_controller:
ros__parameters:
command_interfaces:
- position
joints:
- arm_slider_arm_base_joint
- arm_slider_arm_link_1_joint
- arm_slider_arm_link_2_joint
- arm_slider_arm_link_3_joint
- arm_slider_gripper_base_joint
state_interfaces:
- position
- velocity
arm_slider_gripper_controller:
ros__parameters:
command_interfaces:
- position
joints:
- arm_slider_gripper_right_joint
state_interfaces:
- position
- velocity
controller_manager:
ros__parameters:
arm_slider_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
arm_slider_gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
update_rate: 100