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add: bind_parent_ids to resource create action

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fix: message convert string
This commit is contained in:
wznln
2025-05-06 16:24:19 +08:00
parent 852d10d751
commit 32e370a562
4 changed files with 33 additions and 29 deletions
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9
unilabos/app/web/utils/action_utils.py
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@@ -8,7 +8,7 @@ import traceback
from typing import Dict, Any, Type, TypedDict, Optional
from rclpy.action import ActionClient, ActionServer
from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString
from unilabos.ros.msgs.message_converter import msg_converter_manager
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -74,7 +74,6 @@ def get_yaml_from_goal_type(goal_type) -> str:
for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
slot_name, slot_type = slot_info
type_info = goal_type.SLOT_TYPES[ind]
default_value = "unknown"
if isinstance(type_info, UnboundedSequence):
inner_type = type_info.value_type
if isinstance(inner_type, NamespacedType):
@@ -83,8 +82,10 @@ def get_yaml_from_goal_type(goal_type) -> str:
default_value = [get_ros_msg_instance_as_dict(type_class())]
elif isinstance(inner_type, BasicType):
default_value = [get_default_value_for_ros_type(inner_type.typename)]
elif isinstance(inner_type, UnboundedString):
default_value = [""]
else:
default_value = "unknown"
default_value = []
elif isinstance(type_info, NamespacedType):
cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
type_class = msg_converter_manager.get_class(cls_name)
@@ -93,6 +94,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
default_value = get_ros_msg_instance_as_dict(type_class())
elif isinstance(type_info, BasicType):
default_value = get_default_value_for_ros_type(type_info.typename)
elif isinstance(type_info, UnboundedString):
default_value = ""
else:
type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
if type_class is not None: