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Resource dict fully change to "pose" key

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This commit is contained in:
Xuwznln
2025-12-02 03:45:16 +08:00
parent e13b250632
commit 5551fbf360
9 changed files with 71 additions and 68 deletions
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2
unilabos/ros/nodes/presets/host_node.py
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@@ -532,7 +532,7 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
try:
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
d = initialize_device_from_dict(device_id, device_config)
except DeviceClassInvalid as e:
self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
d = None

16
unilabos/ros/nodes/presets/workstation.py
View File

@@ -24,7 +24,7 @@ from unilabos.ros.msgs.message_converter import (
convert_from_ros_msg_with_mapping,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance
from unilabos.utils.type_check import get_result_info_str
if TYPE_CHECKING:
@@ -47,7 +47,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
def __init__(
self,
protocol_type: List[str],
children: Dict[str, Any],
children: List[ResourceDictInstance],
*,
driver_instance: "WorkstationBase",
device_id: str,
@@ -81,10 +81,11 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
# 初始化子设备
self.communication_node_id_to_instance = {}
for device_id, device_config in self.children.items():
if device_config.get("type", "device") != "device":
for device_config in self.children:
device_id = device_config.res_content.id
if device_config.res_content.type != "device":
self.lab_logger().debug(
f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
f"[Protocol Node] Skipping type {device_config.res_content.type} {device_id} already existed, skipping."
)
continue
try:
@@ -101,8 +102,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
self.communication_node_id_to_instance[device_id] = d
continue
for device_id, device_config in self.children.items():
if device_config.get("type", "device") != "device":
for device_config in self.children:
device_id = device_config.res_content.id
if device_config.res_content.type != "device":
continue
# 设置硬件接口代理
if device_id not in self.sub_devices: