添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题
2025-12-17 13:01:12 +00:00 · 2025-04-25 19:20:18 +08:00
parent 1e01eae896
commit bed9720de3
2 changed files with 236 additions and 28 deletions
--- a/unilabos/device_mesh/resource_visalization.py
+++ b/unilabos/device_mesh/resource_visalization.py
@@ -131,7 +131,7 @@ class ResourceVisualization:
            executable='move_group',
            output='screen',
            parameters=[{
-                'robot_description': self.robot_state_str,
+                'robot_description': robot_description,
                'robot_description_semantic': self.srdf_str,
                'capabilities': '',
                'disable_capabilities': '',