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Merge branch 'dev' into prcix9320

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This commit is contained in:
zhangshixiang
2026-01-12 14:31:56 +08:00
parent 31e8d065c4
commit de7fbe7ac8
18 changed files with 436 additions and 1239 deletions
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9
unilabos/ros/main_slave_run.py
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@@ -1,4 +1,5 @@
import json
# from nt import device_encoding
import threading
import time
@@ -55,7 +56,11 @@ def main(
) -> None:
"""主函数"""
rclpy.init(args=rclpy_init_args)
# Support restart - check if rclpy is already initialized
if not rclpy.ok():
rclpy.init(args=rclpy_init_args)
else:
logger.info("[ROS] rclpy already initialized, reusing context")
executor = rclpy.__executor = MultiThreadedExecutor()
# 创建主机节点
host_node = HostNode(
@@ -88,7 +93,7 @@ def main(
joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
# lh_joint_pub = LiquidHandlerJointPublisher(
# resources_config=resources_list, resource_tracker=host_node.resource_tracker
# )
# )
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
# executor.add_node(lh_joint_pub)