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fix startup

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add ResourceCreateFromOuter.action
This commit is contained in:
wznln
2025-05-06 10:39:54 +08:00
parent d6b8104824
commit 3c98c77cab
6 changed files with 48 additions and 47 deletions
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60
unilabos/app/main.py
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@@ -1,30 +1,24 @@
import argparse
import asyncio
import json
import os
import signal
import sys
import json
import threading
import time
from copy import deepcopy
import yaml
from copy import deepcopy
import threading
import rclpy
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
# 首先添加项目根目录到路径
current_dir = os.path.dirname(os.path.abspath(__file__))
ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
if ilabos_dir not in sys.path:
sys.path.append(ilabos_dir)
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
if unilabos_dir not in sys.path:
sys.path.append(unilabos_dir)
from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
from unilabos.config.config import load_config, BasicConfig
from unilabos.utils.banner_print import print_status, print_unilab_banner
from unilabos.device_mesh.resource_visalization import ResourceVisualization
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from rclpy.executors import MultiThreadedExecutor
def parse_args():
@@ -83,9 +77,9 @@ def parse_args():
)
parser.add_argument(
"--visual",
choices=["rviz", "web","None"],
default="rviz",
help="选择可视化工具: 'rviz' 或 'web' 或 'None'，默认'rviz'",
choices=["rviz", "web", "disable"],
default="disable",
help="选择可视化工具: rviz, web",
)
return parser.parse_args()
@@ -137,7 +131,7 @@ def main():
# 注册表
build_registry(args_dict["registry_path"])
devices_and_resources = None
if args_dict["graph"] is not None:
import unilabos.resources.graphio as graph_res
graph_res.physical_setup_graph = (
@@ -186,23 +180,21 @@ def main():
mqtt_client.start()
args_dict["resources_mesh_config"] = {}
if args_dict["visual"] != "None":
if args_dict["visual"] == "rviz":
enable_rviz=True
elif args_dict["visual"] == "web":
enable_rviz=False
resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
args_dict["resources_mesh_config"] = resource_visualization.resource_model
# 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中
start_backend(**args_dict)
server_thread = threading.Thread(target=start_server)
server_thread.start()
asyncio.set_event_loop(asyncio.new_event_loop())
resource_visualization.start()
while True:
time.sleep(1)
if args_dict["visual"] != "disable":
enable_rviz = args_dict["visual"] == "rviz"
if devices_and_resources is not None:
resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
args_dict["resources_mesh_config"] = resource_visualization.resource_model
start_backend(**args_dict)
server_thread = threading.Thread(target=start_server)
server_thread.start()
asyncio.set_event_loop(asyncio.new_event_loop())
resource_visualization.start()
while True:
time.sleep(1)
else:
start_backend(**args_dict)
start_server()
else:
start_backend(**args_dict)
start_server()