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fix protocol_node communication transfer

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This commit is contained in:
Junhan Chang
2025-07-20 17:21:48 +08:00
parent 0c8c8d7a89
commit d6119115e8
2 changed files with 5 additions and 1 deletions
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2
unilabos/resources/graphio.py
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@@ -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 # 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", []): for link in data.get("links", []):
port = link.get("port") port = link.get("port")
if link["type"] == "physical": if link.get("type", "physical") == "physical":
link["type"] = "fluid" link["type"] = "fluid"
if isinstance(port, int): if isinstance(port, int):
port = str(port) port = str(port)

4
unilabos/ros/nodes/presets/protocol_node.py
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@@ -84,7 +84,11 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
self.communication_node_id_to_instance[device_id] = d self.communication_node_id_to_instance[device_id] = d
continue 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 # 设置硬件接口代理
d = self.sub_devices[device_id]
if d: if d:
hardware_interface = d.ros_node_instance._hardware_interface hardware_interface = d.ros_node_instance._hardware_interface
if ( if (