修改rviz显示逻辑与joint_publisher，添加moveit2相关节点描述

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -71,7 +71,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
         if simulator:
             if joint_config:
                 self._simulate_backend = UniLiquidHandlerRvizBackend(
-                    channel_num, kwargs["total_height"], joint_config=joint_config, lh_device_id=deck.name
+                    channel_num, kwargs["total_height"], joint_config=joint_config, lh_device_id=deck.name,
+                    simulate_rviz=kwargs.get("simulate_rviz", True)
                 )
             else:
                 self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
@@ -770,6 +771,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         simulator: bool = False,
         channel_num: int = 8,
         total_height: float = 310,
+        **kwargs,
     ):
         """Initialize a LiquidHandler.
 
@@ -809,14 +811,20 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         except Exception:
                             backend_cls = None
                 if backend_cls is not None and isinstance(backend_cls, type):
-                    backend_type = backend_cls(**backend_dict)  # pass the rest of dict as kwargs
+                    if simulator:
+                        backend_type = LiquidHandlerChatterboxBackend(channel_num)
+                    else:
+                        init_kwargs = dict(backend_dict)
+                        init_kwargs["total_height"] = total_height
+                        init_kwargs.update(kwargs)
+                        backend_type = backend_cls(**init_kwargs)
             except Exception as exc:
                 raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
         else:
             backend_type = backend
         self._simulator = simulator
         self.group_info = dict()
-        super().__init__(backend_type, deck, simulator, channel_num)
+        super().__init__(backend_type, deck, simulator, channel_num, total_height=total_height, **kwargs)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node

unilabos/devices/liquid_handling/rviz_backend.py

@@ -59,6 +59,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.total_height = total_height
     self.joint_config = kwargs.get("joint_config", None)
     self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher")
+    self.simulate_rviz = kwargs.get("simulate_rviz", False)
     if not rclpy.ok():
         rclpy.init()
     self.joint_state_publisher = None
@@ -69,7 +70,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.joint_state_publisher = LiquidHandlerJointPublisher(
                                 joint_config=self.joint_config,
                                 lh_device_id=self.lh_device_id,
-                                simulate_rviz=True)
+                                simulate_rviz=self.simulate_rviz)
 
     # 启动ROS executor
     self.executor = rclpy.executors.MultiThreadedExecutor()

unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py

@@ -42,6 +42,7 @@ class LiquidHandlerJointPublisher(Node):
             while self.resource_action is None:
                 self.resource_action = self.check_tf_update_actions()
                 time.sleep(1)
+                self.get_logger().info(f'Waiting for TfUpdate server: {self.resource_action}')
 
             self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
             while not self.resource_action_client.wait_for_server(timeout_sec=1.0):