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ef2a612 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 | """ROS2 运行时辅助：SendRobot 节点需要先 rclpy.init() 并后台 spin。"""
from __future__ import annotations
import threading
from typing import Any
import rclpy
from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node
from .config import RobotConfig
from .robot import Robot
class RosSpinContext:
def __init__(self, robot: Robot):
self.robot = robot
self.executor: MultiThreadedExecutor | None = None
self.spin_thread: threading.Thread | None = None
def start(self) -> None:
if not isinstance(self.robot, Node):
return
self.executor = MultiThreadedExecutor()
self.executor.add_node(self.robot)
self.spin_thread = threading.Thread(target=self.executor.spin, daemon=True)
self.spin_thread.start()
def stop(self) -> None:
if isinstance(self.robot, Node):
self.robot.destroy_node()
if rclpy.ok():
rclpy.shutdown()
def is_ros_robot_config(config: RobotConfig) -> bool:
return config.type in ("send_robot", "send_robot_end_effector")
def make_ros_robot(config: RobotConfig) -> tuple[Robot, RosSpinContext | None]:
from .utils import make_robot_from_config
if not is_ros_robot_config(config):
return make_robot_from_config(config), None
if not rclpy.ok():
rclpy.init()
robot = make_robot_from_config(config)
ctx = RosSpinContext(robot)
ctx.start()
return robot, ctx
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