修改moveit_interface，并在mqtt上报时发送一个时间戳，方便网页端对数据的筛选

unilabos/app/mq.py

@@ -159,10 +159,10 @@ def publish_device_status(self, device_status: dict, device_id, property_name):
         # status = device_status.get(device_id, {})
         if self.mqtt_disable:
             return
-        status = {"data": device_status.get(device_id, {}), "device_id": device_id}
+        status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
         address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
-        logger.debug(f"Device status published: address: {address}, {status}")
+        logger.info(f"Device status published: address: {address}, {status}")
 
     def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
         if self.mqtt_disable:

unilabos/devices/ros_dev/moveit_interface.py

@@ -17,7 +17,7 @@ class MoveitInterface:
     tf_buffer: Buffer
     tf_listener: TransformListener
 
-    def __init__(self, moveit_type, joint_poses, rotation=None, device_config=None):
+    def __init__(self, moveit_type, joint_poses, rotation=None, device_config=None, **kwargs):
         self.device_config = device_config
         self.rotation = rotation
         self.data_config = json.load(