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fix resource dict dump error
This commit is contained in:
Xuwznln
2025-12-04 16:04:56 +08:00
parent 0b896870ba
commit 154048107d
6 changed files with 15 additions and 16 deletions
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8
unilabos/ros/nodes/presets/host_node.py
View File

@@ -718,7 +718,7 @@ class HostNode(BaseROS2DeviceNode):
feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
goal_uuid=goal_uuid_obj,
)
future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
"""目标响应回调"""
@@ -729,9 +729,11 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
self._goals[item.job_id] = goal_handle
goal_handle.get_result_async().add_done_callback(
lambda future: self.get_result_callback(item, action_id, future)
goal_future = goal_handle.get_result_async()
goal_future.add_done_callback(
lambda f: self.get_result_callback(item, action_id, f)
)
goal_future.result()
def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
"""反馈回调"""

2
unilabos/ros/nodes/resource_tracker.py
View File

@@ -155,7 +155,7 @@ class ResourceDictInstance(object):
res_dict = self.res_content.model_dump(by_alias=True)
res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
res_dict["parent"] = self.res_content.parent_instance_name
res_dict["position"] = self.res_content.position.position.model_dump()
res_dict["position"] = self.res_content.pose.position.model_dump()
del res_dict["pose"]
return res_dict