open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 13:01:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

Revert "修改物料跟随与物料添加逻辑"

Browse Source 
This reverts commit 498c997ad7.
This commit is contained in:
zhangshixiang
2025-05-20 17:12:27 +08:00
parent fa727220af
commit 3a60d2ae81
5 changed files with 57 additions and 168 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
unilabos/ros/main_slave_run.py
View File

@@ -9,7 +9,6 @@ import rclpy
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor
@@ -73,18 +72,16 @@ def main(
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_config,
resource_tracker = host_node.resource_tracker,
resource_tracker= DeviceNodeResourceTracker(),
device_id = 'resource_mesh_manager',
)
joint_republisher = JointRepublisher(
'joint_republisher',
host_node.resource_tracker
DeviceNodeResourceTracker()
)
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start()