修复可能的web template找不到的问题

新增联网获取json启动
删除非-g传入启动json的方式
兼容传参参数名短横线与下划线

unilabos/ros/initialize_device.py

@@ -5,9 +5,11 @@ from unilabos.registry.registry import lab_registry
 from unilabos.ros.device_node_wrapper import ros2_device_node
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
 from unilabos.utils import logger
+from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.import_manager import default_manager
 
 
+
 def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2DeviceNode]:
     """Initializes a device based on its configuration.
 
@@ -25,11 +27,13 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
     original_device_config = copy.deepcopy(device_config)
     device_class_config = device_config["class"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
+        if len(device_class_config) == 0:
+            raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
         if device_class_config not in lab_registry.device_type_registry:
-            raise ValueError(f"Device class {device_class_config} not found.")
+            raise DeviceClassInvalid(f"Device [{device_id}] class {device_class_config} not found. {device_config}")
         device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
-    else:
-        raise ValueError("不再支持class为字典传入，class必须为注册表中已经提供的设备，您可以新增注册表并通过--registry传入")
+    elif isinstance(device_class_config, dict):
+        raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}")
     if isinstance(device_class_config, dict):
         DEVICE = default_manager.get_class(device_class_config["module"])
         # 不管是ros2的实例，还是python的，都必须包一次，除了HostNode