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修复auto-的Action在protocol node下错误注册

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This commit is contained in:
Xuwznln
2025-06-29 19:12:32 +08:00
parent 7714c71cd2
commit 09ad905280
1 changed files with 11 additions and 5 deletions
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16
unilabos/ros/nodes/presets/protocol_node.py
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@@ -17,7 +17,7 @@ from unilabos.ros.msgs.message_converter import (
get_action_type, get_action_type,
convert_to_ros_msg, convert_to_ros_msg,
convert_from_ros_msg, convert_from_ros_msg,
convert_from_ros_msg_with_mapping, convert_from_ros_msg_with_mapping, String,
) )
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.utils.log import error from unilabos.utils.log import error
@@ -75,7 +75,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
try: try:
d = self.initialize_device(device_id, device_config) d = self.initialize_device(device_id, device_config)
except Exception as ex: except Exception as ex:
self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}") self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
d = None d = None
if d is None: if d is None:
continue continue
@@ -134,11 +134,17 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
if d is not None and hasattr(d, "ros_node_instance"): if d is not None and hasattr(d, "ros_node_instance"):
node = d.ros_node_instance node = d.ros_node_instance
for action_name, action_mapping in node._action_value_mappings.items(): for action_name, action_mapping in node._action_value_mappings.items():
if action_name.startswith("auto-"):
continue
action_id = f"/devices/{device_id_abs}/{action_name}" action_id = f"/devices/{device_id_abs}/{action_name}"
if action_id not in self._action_clients: if action_id not in self._action_clients:
self._action_clients[action_id] = ActionClient( try:
self, action_mapping["type"], action_id, callback_group=self.callback_group self._action_clients[action_id] = ActionClient(
) self, action_mapping["type"], action_id, callback_group=self.callback_group
)
except Exception as ex:
self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
continue
self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}") self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
return d return d