add registry name & add always free

2026-02-12 18:55:11 +00:00 · 2026-02-07 02:11:43 +08:00
parent 4f7d431c0b
commit 9a7d5c7c82
16 changed files with 228 additions and 31 deletions
--- a/unilabos/ros/nodes/presets/controller_node.py
+++ b/unilabos/ros/nodes/presets/controller_node.py
@@ -10,6 +10,7 @@ class ControllerNode(BaseROS2DeviceNode):
    def __init__(
        self,
        device_id: str,
+        registry_name: str,
        controller_func: Callable,
        update_rate: float,
        inputs: Dict[str, Dict[str, type | str]],
@@ -51,6 +52,7 @@ class ControllerNode(BaseROS2DeviceNode):
            self,
            driver_instance=self,
            device_id=device_id,
+            registry_name=registry_name,
            status_types=status_types,
            action_value_mappings=action_value_mappings,
            hardware_interface=hardware_interface,