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Merge branch 'dev' into prcix9320

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q434343
2026-04-09 18:12:25 +08:00
parent 4d3a41ed0d 58997f0654
commit 7df67ea9f3
19 changed files with 3853 additions and 200 deletions
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5
unilabos/ros/main_slave_run.py
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@@ -1,4 +1,5 @@
import json
import os
# from nt import device_encoding
import threading
@@ -62,7 +63,7 @@ def main(
rclpy.init(args=rclpy_init_args)
else:
logger.info("[ROS] rclpy already initialized, reusing context")
executor = rclpy.__executor = MultiThreadedExecutor()
executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
# 创建主机节点
host_node = HostNode(
"host_node",
@@ -124,7 +125,7 @@ def slave(
rclpy.init(args=rclpy_init_args)
executor = rclpy.__executor
if not executor:
executor = rclpy.__executor = MultiThreadedExecutor()
executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
# 1.5 启动 executor 线程
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")