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Fix startup with remote resource error

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Resource dict fully change to "pose" key

Update oss link

Reduce pylabrobot conversion warning & force enable log dump.

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This commit is contained in:
ZiWei
2025-11-28 11:35:05 +08:00
committed by Xuwznln
parent c7c14d2332
commit 5ce433e235
12 changed files with 92 additions and 79 deletions
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16
unilabos/ros/nodes/presets/workstation.py
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@@ -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: