fix(registry): stabilize ROS distro action schema

.github/workflows/ci-check.yml

@@ -109,7 +109,7 @@ jobs:
           call conda activate check-env
           call install\unilabos_msgs\setup.bat
           echo Running HostLink, ROS2 domain and networking runtime tests...
-          python -m pytest -q tests\hostlink tests\networking tests\basic tests\device_runtime tests\app\test_backend_selection.py tests\app\test_rclpy_dll_patch.py tests\registry\test_backend_metadata.py tests\ros\test_domain_init.py tests\ros\test_device_node_contract.py -p no:launch_testing -p no:launch_ros
+          python -m pytest -q tests\hostlink tests\networking tests\basic tests\device_runtime tests\app\test_backend_selection.py tests\app\test_rclpy_dll_patch.py tests\registry\test_backend_metadata.py tests\ros\test_action_schema_compat.py tests\ros\test_domain_init.py tests\ros\test_device_node_contract.py -p no:launch_testing -p no:launch_ros
 
       - name: Run check mode (AST registry validation)
         # check_mode 会真实 import 所有设备类(连带 matplotlib/opencv 等原生库)。

tests/ros/test_action_schema_compat.py

@@ -0,0 +1,24 @@
+from unilabos.ros.msgs.message_converter import (
+    NavigateThroughPoses,
+    ros_action_result_mapping,
+    ros_action_to_json_schema,
+)
+
+
+def test_navigate_through_poses_result_contract_is_distro_independent() -> None:
+    """Humble/Jazzy 的原始 Result 不同，但 UniLabOS 对外合同必须一致。"""
+    native_fields = set(
+        NavigateThroughPoses.Result.get_fields_and_field_types()
+    )
+    assert native_fields in ({"result"}, {"error_code", "error_msg"})
+
+    assert ros_action_result_mapping(NavigateThroughPoses) == {}
+    result_schema = ros_action_to_json_schema(NavigateThroughPoses)["properties"][
+        "result"
+    ]
+    assert result_schema == {
+        "title": "NavigateThroughPoses_Result",
+        "type": "object",
+        "properties": {},
+        "additionalProperties": False,
+    }

unilabos/registry/devices/robot_linear_motion.yaml

@@ -136,9 +136,7 @@ linear_motion.grbl:
           poses: []
         handles: {}
         placeholder_keys: {}
-        result:
-          error_code: error_code
-          error_msg: error_msg
+        result: {}
         schema:
           description: ''
           properties:
@@ -355,13 +353,7 @@ linear_motion.grbl:
               type: object
             result:
               additionalProperties: false
-              properties:
-                error_code:
-                  maximum: 65535
-                  minimum: 0
-                  type: integer
-                error_msg:
-                  type: string
+              properties: {}
               title: NavigateThroughPoses_Result
               type: object
           required:

unilabos/registry/registry.py

@@ -62,6 +62,7 @@
 from unilabos.resources.site_definition import normalize_available_sites
 from unilabos.ros.msgs.message_converter import (
     msg_converter_manager,
+    ros_action_result_mapping,
     ros_action_to_json_schema,
     String,
     ros_message_to_json_schema,
@@ -2039,8 +2040,7 @@ def _load_single_device_file(
                                     pass
                                 try:
                                     if hasattr(action_type_obj, "Result"):
-                                        res_fields = action_type_obj.Result.get_fields_and_field_types()
-                                        entry_result = {f: f for f in res_fields}
+                                        entry_result = ros_action_result_mapping(action_type_obj)
                                 except Exception:
                                     pass
                                 try:

unilabos/ros/msgs/message_converter.py

@@ -974,6 +974,33 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
     return schema
 
 
+def ros_action_result_mapping(action_class: Any) -> Dict[str, str]:
+    """生成 action Result 字段映射，并消除跨 ROS 发行版的不稳定字段。
+
+    ``NavigateThroughPoses.Result`` 在 Humble 中包装 ``std_msgs/Empty``，在
+    Jazzy 中则是 ``error_code/error_msg``。UniLabOS 的轨迹动作不读取这些
+    字段，因此统一声明为无结果映射，避免共享 registry 随发行版来回变化。
+    """
+    if action_class is NavigateThroughPoses:
+        return {}
+    return {
+        field_name: field_name
+        for field_name in action_class.Result.get_fields_and_field_types()
+    }
+
+
+def ros_action_result_to_json_schema(action_class: Any) -> Dict[str, Any]:
+    """生成可跨受支持 ROS 发行版复用的 action Result schema。"""
+    if action_class is NavigateThroughPoses:
+        return {
+            "title": action_class.Result.__name__,
+            "type": "object",
+            "properties": {},
+            "additionalProperties": False,
+        }
+    return ros_message_to_json_schema(action_class.Result, action_class.Result.__name__)
+
+
 def ros_action_to_json_schema(
     action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
 ) -> Dict[str, Any]:
@@ -1011,7 +1038,7 @@ def ros_action_to_json_schema(
             },
             "result": {
                 # 'description': 'Action 结果 - 完成后从服务器发送到客户端',
-                **ros_message_to_json_schema(action_class.Result, action_class.Result.__name__)
+                **ros_action_result_to_json_schema(action_class)
             },
         },
         "required": ["goal"],