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Reapply "修改物料跟随与物料添加逻辑"

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This reverts commit 3a60d2ae81.
This commit is contained in:
zhangshixiang
2025-05-20 17:12:51 +08:00
parent 3a60d2ae81
commit ae566f2bc2
5 changed files with 168 additions and 57 deletions
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7
unilabos/ros/main_slave_run.py
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@@ -9,6 +9,7 @@ import rclpy
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor
@@ -72,16 +73,18 @@ def main(
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_config,
resource_tracker= DeviceNodeResourceTracker(),
resource_tracker = host_node.resource_tracker,
device_id = 'resource_mesh_manager',
)
joint_republisher = JointRepublisher(
'joint_republisher',
DeviceNodeResourceTracker()
host_node.resource_tracker
)
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start()