fix startup

add ResourceCreateFromOuter.action

unilabos/ros/main_slave_run.py

@@ -48,14 +48,14 @@ def main(
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
-    visual: str = "None",
+    visual: str = "disable",
     resources_mesh_config: dict = {},
-    args: List[str] = ["--log-level", "debug"],
+    rclpy_init_args: List[str] = ["--log-level", "debug"],
     discovery_interval: float = 5.0,
 ) -> None:
     """主函数"""
 
-    rclpy.init(args=args)
+    rclpy.init(args=rclpy_init_args)
     executor = rclpy.__executor = MultiThreadedExecutor()
     # 创建主机节点
     host_node = HostNode(
@@ -96,11 +96,13 @@ def slave(
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
-    args: List[str] = ["--log-level", "debug"],
+    visual: str = "disable",
+    resources_mesh_config: dict = {},
+    rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
     if not rclpy.ok():
-        rclpy.init(args=args)
+        rclpy.init(args=rclpy_init_args)
     executor = rclpy.__executor
     if not executor:
         executor = rclpy.__executor = MultiThreadedExecutor()
@@ -136,7 +138,7 @@ def slave(
         logger.info(f"Slave node info updated.")
 
         rclient = n.create_client(ResourceAdd, "/resources/add")
-        rclient.wait_for_service()  # FIXME 可能一直等待，加一个参数
+        rclient.wait_for_service()
 
         request = ResourceAdd.Request()
         request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]

unilabos/ros/nodes/base_device_node.py

@@ -438,7 +438,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
             self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
 
-            # 向Host查询物料当前状态
+            # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
             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}")

unilabos/ros/nodes/presets/host_node.py

@@ -101,9 +101,14 @@ class HostNode(BaseROS2DeviceNode):
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
         self.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 存储设备ID到机器名称的映射
         self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
-        self._action_value_mappings: Dict[str, Dict] = (
-            {}
-        )  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
+        self._action_value_mappings: Dict[str, Dict] = {
+            "add_resrouce": {
+                "type": ResourceCreateFromOuter,
+                "goal": {
+
+                }
+            }
+        }  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = set()  # 用于跟踪在线设备
         self._last_discovery_time = 0.0  # 上次设备发现的时间