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]