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liquid states

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Xuwznln
2025-06-09 00:52:07 +08:00
parent d2782943b4
commit f2e1d8a6c8
8 changed files with 17248 additions and 507 deletions
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9
unilabos/ros/main_slave_run.py
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@@ -6,7 +6,6 @@ import time
from typing import Optional, Dict, Any, List
import rclpy
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
@@ -70,6 +69,8 @@ def main(
)
if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_config,
@@ -80,11 +81,11 @@ def main(
'joint_republisher',
host_node.resource_tracker
)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config,
resource_tracker=host_node.resource_tracker)
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start()