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fix: slave mode spin not working

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This commit is contained in:
wznln
2025-04-30 15:48:33 +08:00
parent 2d034f728a
commit 7a51b2adc1
2 changed files with 6 additions and 2 deletions
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7
unilabos/ros/main_slave_run.py
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@@ -2,11 +2,9 @@ import copy
import json import json
import os import os
import threading import threading
import traceback
from typing import Optional, Dict, Any, List from typing import Optional, Dict, Any, List
import rclpy import rclpy
from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor from rclpy.executors import MultiThreadedExecutor
@@ -67,6 +65,9 @@ def main(
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread") thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start() thread.start()
while True:
input()
def slave( def slave(
devices_config: Dict[str, Any] = {}, devices_config: Dict[str, Any] = {},
@@ -120,6 +121,8 @@ def slave(
response = rclient.call_async(request).result() response = rclient.call_async(request).result()
logger.info(f"Slave resource added.") logger.info(f"Slave resource added.")
while True:
input()
if __name__ == "__main__": if __name__ == "__main__":
main() main()

1
unilabos/ros/utils/driver_creator.py
View File

@@ -225,6 +225,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")) ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
class ProtocolNodeCreator(DeviceClassCreator[T]): class ProtocolNodeCreator(DeviceClassCreator[T]):
""" """
ProtocolNode设备类创建器 ProtocolNode设备类创建器