fix type hint

unilabos/app/backend.py

@@ -7,7 +7,7 @@ from unilabos.utils import logger
 def start_backend(
     backend: str,
     devices_config: dict = {},
-    resources_config: dict = {},
+    resources_config: list = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],

unilabos/device_mesh/resource_visalization.py

@@ -10,7 +10,7 @@ from unilabos.registry.registry import lab_registry
 
 
 class ResourceVisualization:
-    def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
+    def __init__(self, device: dict, resource: list, 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,
@@ -18,13 +18,13 @@ class ResourceVisualization:
         
         Args:
             device (dict): 设备配置字典,包含设备的类型、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 
+            resource (list): 资源配置列表,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_dict = resource
+        self.resource_list = resource
         self.resource_model = {}
         self.resource_type = ['deck', 'plate', 'container']
         self.mesh_path = Path(__file__).parent.absolute()

unilabos/ros/main_slave_run.py

@@ -44,7 +44,7 @@ def exit() -> None:
 
 def main(
     devices_config: Dict[str, Any] = {},
-    resources_config={},
+    resources_config: list=[],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
@@ -68,7 +68,7 @@ def main(
         discovery_interval,
     )
 
-    if visual != "None":
+    if visual != "disable":
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_config,

unilabos/ros/nodes/presets/host_node.py

@@ -50,7 +50,7 @@ class HostNode(BaseROS2DeviceNode):
         self,
         device_id: str,
         devices_config: Dict[str, Any],
-        resources_config: Any,
+        resources_config: list,
         physical_setup_graph: Optional[Dict[str, Any]] = None,
         controllers_config: Optional[Dict[str, Any]] = None,
         bridges: Optional[List[Any]] = None,