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feat: vis 2d for plr

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This commit is contained in:
wznln
2025-05-06 23:32:54 +08:00
parent 3dc62e3e99
commit cd1e9a9f7d
3 changed files with 23 additions and 9 deletions
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8
unilabos/ros/utils/driver_creator.py
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@@ -225,6 +225,14 @@ 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)