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Dev backward (#228)

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* Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

* CI Check Fix 1

* CI Check Fix 2

* CI Check Fix 3

* CI Check Fix 4

* CI Check Fix 5

* Upgrade to py 3.11.14; ros 0.7; unilabos 0.10.16

* Update to ROS2 Humble 0.7

* Fix Build 1

* Fix Build 2

* Fix Build 3

* Fix Build 4

* Fix Build 5

* Fix Build 6

* Fix Build 7

* ci(deps): bump actions/configure-pages from 4 to 5 (#222)

Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 4 to 5.
- [Release notes](https://github.com/actions/configure-pages/releases)
- [Commits](https://github.com/actions/configure-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/configure-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-artifact from 4 to 6 (#224)

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4 to 6.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](https://github.com/actions/upload-artifact/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-pages-artifact from 3 to 4 (#225)

Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 3 to 4.
- [Release notes](https://github.com/actions/upload-pages-artifact/releases)
- [Commits](https://github.com/actions/upload-pages-artifact/compare/v3...v4)

---
updated-dependencies:
- dependency-name: actions/upload-pages-artifact
  dependency-version: '4'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/checkout from 4 to 6 (#223)

Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* Fix Build 8

* Fix Build 9

* Fix Build 10

* Fix Build 11

* Fix Build 12

* Fix Build 13

* v0.10.17

(cherry picked from commit 176de521b4)

* CI Check use production mode

* Fix OT2 & ReAdd Virtual Devices

* add msg goal

* transfer liquid handles

* gather query

* add unilabos_class

* Support root node change pos

* save class name when deserialize & protocol execute test

* fix upload workflow json

* workflow upload & set liquid fix & add set liquid with plate

* speed up registry load

---------

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: hanhua@dp.tech <2509856570@qq.com>
This commit is contained in:
Xuwznln
2026-02-02 23:57:13 +08:00
committed by GitHub
parent c4a3be1498
commit e30c01d54e
65 changed files with 4603 additions and 1655 deletions
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40
unilabos/ros/msgs/message_converter.py
View File

@@ -770,13 +770,16 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
return schema
def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
def ros_action_to_json_schema(
action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
) -> Dict[str, Any]:
"""
将 ROS Action 类转换为 JSON Schema
Args:
action_class: ROS Action 类
description: 描述
previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
Returns:
完整的 JSON Schema 定义
@@ -810,9 +813,44 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An
"required": ["goal"],
}
# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
if previous_schema:
_preserve_field_descriptions(schema, previous_schema)
return schema
def _preserve_field_descriptions(
new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
) -> None:
"""
保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
Args:
new_schema: 新生成的 schema（会被修改）
previous_schema: 之前的 schema
"""
for section in ["goal", "feedback", "result"]:
new_section = new_schema.get("properties", {}).get(section, {})
prev_section = previous_schema.get("properties", {}).get(section, {})
if not new_section or not prev_section:
continue
new_props = new_section.get("properties", {})
prev_props = prev_section.get("properties", {})
for field_name, field_schema in new_props.items():
if field_name in prev_props:
prev_field = prev_props[field_name]
# 保留字段的 description
if "description" in prev_field and prev_field["description"]:
field_schema["description"] = prev_field["description"]
# 保留字段的 title（用户自定义的中文名）
if "title" in prev_field and prev_field["title"]:
field_schema["title"] = prev_field["title"]
def convert_ros_action_to_jsonschema(
action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
) -> Dict[str, Any]: