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Merge remote-tracking branch 'upstream/dev' into device_visualization

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zhangshixiang
2025-07-24 19:03:36 +08:00
parent 20446c9b70 d289c01a34
commit e7d90a8aae
11 changed files with 344 additions and 42816 deletions
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11
unilabos/ros/nodes/presets/host_node.py
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@@ -364,7 +364,16 @@ class HostNode(BaseROS2DeviceNode):
resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
):
# 这里要求device_id传入必须是edge_device_id
namespace = "/devices/" + device_id
if device_id not in self.devices_names:
self.lab_logger().error(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
raise ValueError(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
device_key = f"{self.devices_names[device_id]}/{device_id}"
if device_key not in self._online_devices:
self.lab_logger().error(f"[Host Node] Device {device_key} is offline. Create resource failed.")
raise ValueError(f"[Host Node] Device {device_key} is offline. Create resource failed.")
namespace = self.devices_names[device_id]
srv_address = f"/srv{namespace}/append_resource"
sclient = self.create_client(SerialCommand, srv_address)
sclient.wait_for_service()

6
unilabos/ros/nodes/presets/protocol_node.py
View File

@@ -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 (
@@ -108,6 +112,8 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
)
self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
def _setup_protocol_names(self, protocol_type):
# 处理协议类型
if isinstance(protocol_type, str):