close #12

feat: slave node registry

unilabos/registry/registry.py

@@ -7,7 +7,7 @@ from typing import Any
 import yaml
 
 from unilabos.utils import logger
-from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
 from unilabos.utils.decorator import singleton
 from unilabos.utils.type_check import TypeEncoder
 
@@ -131,6 +131,7 @@ class Registry:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
+                                    action_config["schema"] = ros_action_to_json_schema(action_config["type"])
 
                 self.device_type_registry.update(data)
 
@@ -150,11 +151,7 @@ class Registry:
         for device_id, device_info in self.device_type_registry.items():
             msg = {
                 "id": device_id,
-                "name": device_info.get("name", "未命名"),
-                "file_path": device_info.get("file_path", ""),
-                "class_json": json.dumps(
-                    device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
-                ),
+                **device_info
             }
             devices.append(msg)
         return devices