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protocol node 执行action不应携带自身device id

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Xuwznln
2025-06-18 10:54:51 +08:00
parent cbe04a0b09
commit afc095f22c
1 changed files with 1 additions and 1 deletions
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unilabos/ros/nodes/presets/protocol_node.py
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@@ -214,7 +214,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
if device_id in ["", None, "self"]: if device_id in ["", None, "self"]:
action_id = f"/devices/{self.device_id}/{action_name}" action_id = f"/devices/{self.device_id}/{action_name}"
else: else:
action_id = f"/devices/{self.device_id}/{device_id}/{action_name}" action_id = f"/devices/{device_id}/{action_name}" # 执行时取消了主节点信息 /{self.device_id}
# 检查动作客户端是否存在 # 检查动作客户端是否存在
if action_id not in self._action_clients: if action_id not in self._action_clients: