fix protocol_node communication transfer

unilabos/resources/graphio.py

@@ -84,7 +84,7 @@ def canonicalize_links_ports(data: dict) -> dict:
     # 第一遍处理：将字符串类型的port转换为字典格式
     for link in data.get("links", []):
         port = link.get("port")
-        if link["type"] == "physical":
+        if link.get("type", "physical") == "physical":
             link["type"] = "fluid"
         if isinstance(port, int):
             port = str(port)

unilabos/ros/nodes/presets/protocol_node.py

@@ -84,7 +84,11 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                 self.communication_node_id_to_instance[device_id] = d
                 continue
 
+        for device_id, device_config in self.children.items():
+            if device_config.get("type", "device") != "device":
+                continue
             # 设置硬件接口代理
+            d = self.sub_devices[device_id]
             if d:
                 hardware_interface = d.ros_node_instance._hardware_interface
                 if (