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修复protocolnode的兼容性

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This commit is contained in:
Xuwznln
2025-09-19 22:54:27 +08:00
parent 4b5a83efa4
commit 301bea639e
16 changed files with 35 additions and 440 deletions
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4
unilabos/ros/nodes/base_device_node.py
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@@ -683,7 +683,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if action_name not in ["create_resource_detailed", "create_resource"]:
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
self.lab_logger().info(f"{action_name} 查询资源状态: Key: {k} Type: {v}")
current_resources: Union[List[Resource], List[List[Resource]]] = []
# TODO: resource后面需要分组
only_one_resource = False
@@ -722,7 +722,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
try:
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
except Exception as e:
self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
error_skip = True
execution_error = traceback.format_exc()
break