stripe ros2 schema desc

add create-device-skill

unilabos/ros/msgs/message_converter.py

@@ -717,6 +717,19 @@ def ros_field_type_to_json_schema(
     # return {'type': 'object', 'description': f'未知类型: {field_type}'}
 
 
+def _strip_rosidl_descriptions(schema: Any) -> None:
+    """递归清除 rosidl_parser 自动生成的无意义 description（含内存地址）。"""
+    if isinstance(schema, dict):
+        desc = schema.get("description", "")
+        if isinstance(desc, str) and "rosidl_parser" in desc:
+            del schema["description"]
+        for v in schema.values():
+            _strip_rosidl_descriptions(v)
+    elif isinstance(schema, list):
+        for item in schema:
+            _strip_rosidl_descriptions(item)
+
+
 def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]:
     """
     将 ROS 消息类转换为 JSON Schema
@@ -730,7 +743,8 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
     """
     schema = ROS2MessageInstance(msg_class()).get_json_schema()
     schema["title"] = field_name
-    schema.pop("description")
+    schema.pop("description", None)
+    _strip_rosidl_descriptions(schema)
     return schema
 
 
@@ -777,6 +791,8 @@ def ros_action_to_json_schema(
         "required": ["goal"],
     }
 
+    _strip_rosidl_descriptions(schema)
+
     # 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)

unilabos/ros/nodes/base_device_node.py

@@ -1884,7 +1884,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     continue
 
                 # 处理单个 ResourceSlot
-                if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
+                _is_resource_slot = isinstance(arg_type, str) and arg_type.endswith(":ResourceSlot")
+                if _is_resource_slot:
                     resource_data = function_args[arg_name]
                     if isinstance(resource_data, dict) and "id" in resource_data:
                         try:
@@ -1898,8 +1899,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
                 # 处理 ResourceSlot 列表
                 elif isinstance(arg_type, tuple) and len(arg_type) == 2:
-                    resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot"
-                    if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
+                    if arg_type[0] == "list" and isinstance(arg_type[1], str) and arg_type[1].endswith(":ResourceSlot"):
                         resource_list = function_args[arg_name]
                         if isinstance(resource_list, list):
                             try: