在main中直接初始化republisher和物料的mesh节点

unilabos/devices/ros_dev/joint_republisher.py

@@ -1,60 +0,0 @@
-import rclpy,json
-from rclpy.node import Node
-from sensor_msgs.msg import JointState 
-from std_msgs.msg import String
-from rclpy.callback_groups import ReentrantCallbackGroup
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-class JointRepublisher(BaseROS2DeviceNode):
-    def __init__(self,device_id,resource_tracker):
-        super().__init__(
-            driver_instance=self,
-            device_id=device_id,
-            status_types={},
-            action_value_mappings={},
-            hardware_interface={},
-            print_publish=False,
-            resource_tracker=resource_tracker,  
-        )  
-        
-        # print('-'*20,device_id)
-        self.joint_repub = self.create_publisher(String,f'joint_state_repub',10)
-        # 创建订阅者
-        self.create_subscription(
-            JointState,               
-            '/joint_states',         
-            self.listener_callback,  
-            10,
-            callback_group=ReentrantCallbackGroup()
-        )
-        self.msg = String()
-
-    def listener_callback(self, msg:JointState):
-        
-        try:
-            json_dict = {}
-            json_dict["name"]           = list(msg.name)
-            json_dict["position"]       = list(msg.position)
-            json_dict["velocity"]       = list(msg.velocity)
-            json_dict["effort"]         = list(msg.effort)
-
-            self.msg.data = str(json_dict)
-            self.joint_repub.publish(self.msg)
-            # print('-'*20)
-            # print(self.msg.data)
-            
-        except Exception as e:
-            print(e)
-
-
-def main():
-
-    rclpy.init()
-    subscriber = JointRepublisher()
-    rclpy.spin(subscriber)
-    subscriber.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()