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fix: station自己的方法注册错误

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Xuwznln
2025-08-30 12:20:24 +08:00
parent 19027350fb
commit a312de08a5
1 changed files with 4 additions and 1 deletions
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5
unilabos/ros/nodes/presets/workstation.py
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@@ -289,6 +289,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
def create_ros_action_server(self, action_name, action_value_mapping): def create_ros_action_server(self, action_name, action_value_mapping):
"""创建ROS动作服务器""" """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 # 和Base创建的路径是一致的
protocol_name = action_name protocol_name = action_name
action_type = action_value_mapping["type"] 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), execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
callback_group=ReentrantCallbackGroup(), callback_group=ReentrantCallbackGroup(),
) )
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") 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): def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
async def execute_protocol(goal_handle: ServerGoalHandle): async def execute_protocol(goal_handle: ServerGoalHandle):