修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

unilabos/ros/main_slave_run.py

@@ -9,6 +9,7 @@ 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
@@ -72,16 +73,18 @@ def main(
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_config,
-            resource_tracker= DeviceNodeResourceTracker(),
+            resource_tracker = host_node.resource_tracker,
             device_id = 'resource_mesh_manager',
         )
         joint_republisher = JointRepublisher(
             'joint_republisher',
-            DeviceNodeResourceTracker()
+            host_node.resource_tracker
         )
 
         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()