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Merge remote-tracking branch 'origin/dev' into device_visualization

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wznln
2025-05-06 23:58:56 +08:00
parent 8617b1284f cd1e9a9f7d
commit b43f2321cd
4 changed files with 53 additions and 12 deletions
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8
unilabos/ros/utils/driver_creator.py
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@@ -226,6 +226,14 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
def done_cb(*args):
logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
from unilabos.config.config import BasicConfig
if BasicConfig.vis_2d_enable:
from pylabrobot.visualizer.visualizer import Visualizer
vis = Visualizer(resource=self.device_instance, open_browser=True)
def vis_done_cb(*args):
logger.info(f"PyLabRobot设备实例开启了Visualizer {self.device_instance}")
ROS2DeviceNode.run_async_func(vis.setup).add_done_callback(vis_done_cb)
logger.debug(f"PyLabRobot设备实例提交开启Visualizer {self.device_instance}")
ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)