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

2026-03-25 09:39:18 +00:00 · 2026-03-23 00:00:57 +08:00
parent cdbca70222
commit 35bcf6765d
7 changed files with 1550 additions and 77 deletions
--- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py
+++ b/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):