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修改物体attach时，多次赋值当前时间导致卡顿问题，

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zhangshixiang
2025-06-07 22:51:03 +08:00
parent 3d11a0cc50
commit 56d45b94f5
3 changed files with 143 additions and 36 deletions
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5
unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
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@@ -118,7 +118,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
str_dict[resource] = link_name
goal_msg.command = json.dumps(str_dict)
self.resource_action_client.send_goal_async(goal_msg)
self.resource_action_client.send_goal(goal_msg)
def resource_move(self, resource_id:str, link_name:str, channels:list[int]):
resource = resource_id.rsplit("_",1)
@@ -247,13 +247,10 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
link_name = self.lh_devices[parent_id]['joint_config']['link_names'][z_index]
link_name = f'{parent_id}_{link_name}'
self.resource_move(resource_name_, link_name, [0,1,2,3,4,5,6,7])
time.sleep(1)
elif option == "drop_trash":
self.resource_move(resource_name_, "__trash", [0,1,2,3,4,5,6,7])
time.sleep(1)
elif option == "drop":
self.resource_move(resource_name_, "world", [0,1,2,3,4,5,6,7])
time.sleep(1)
self.move_to(joint_positions_target_zero, speed, parent_id)