From a312de08a511f95bd5f4731fa77a215a08bfeb53 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Sat, 30 Aug 2025 12:20:24 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20station=E8=87=AA=E5=B7=B1=E7=9A=84?=
 =?UTF-8?q?=E6=96=B9=E6=B3=95=E6=B3=A8=E5=86=8C=E9=94=99=E8=AF=AF?=
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---
 unilabos/ros/nodes/presets/workstation.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py
index c790940d..de4e94cf 100644
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -289,6 +289,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
     def create_ros_action_server(self, action_name, action_value_mapping):
         """创建ROS动作服务器"""
+        if action_name not in self.protocol_names:
+            # 非protocol方法调用父类注册
+            return super().create_ros_action_server(action_name, action_value_mapping)
         # 和Base创建的路径是一致的
         protocol_name = action_name
         action_type = action_value_mapping["type"]
@@ -303,8 +306,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
             callback_group=ReentrantCallbackGroup(),
         )
-
         self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
+        return
 
     def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
         async def execute_protocol(goal_handle: ServerGoalHandle):