✨ finish mark;

test(cy-mark): improve marker placement service and update test case

- Update marker_client.py to test with different coordinates and color
- Remove model_marker.sdf file as it's no longer needed
- Enhance marker_service.cpp with better error handling and logging

test/cy-mark/marker_client.py

@@ -24,7 +24,7 @@ class MarkerClient(Node):
 def main(args=None):
     rclpy.init(args=args)
     client = MarkerClient()
-    response = client.send_request(1.0, 2.0, 0.5, 'red')
+    response = client.send_request(1.0, 1.0, 0.0, 'blue')
     client.get_logger().info(
         f'结果: {response.success}, 消息: {response.message}')
     client.destroy_node()

test/cy-mark/src/marker_service.cpp

@@ -27,7 +27,7 @@ void MarkerService::handle_place_marker(
   std::shared_ptr<cyberdog_marker::srv::PlaceMarker::Response> response)
 {
   // 等待Gazebo服务可用
-  if (!spawn_entity_client_->wait_for_service(std::chrono::seconds(5))) {
+  if (!spawn_entity_client_->wait_for_service(std::chrono::seconds(1))) { // 缩短超时，快速失败
     response->success = false;
     response->message = "Gazebo spawn_entity service not available";
     RCLCPP_ERROR(get_logger(), "%s", response->message.c_str());
@@ -45,37 +45,45 @@ void MarkerService::handle_place_marker(
   auto spawn_request = std::make_shared<gazebo_msgs::srv::SpawnEntity::Request>();
   spawn_request->name = marker_name;
   spawn_request->xml = marker_sdf;
-  spawn_request->robot_namespace = "";
+  spawn_request->robot_namespace = ""; // 通常为空，除非你的Gazebo模型在特定命名空间下
   
   // 设置标记位置
   spawn_request->initial_pose.position.x = request->x;
   spawn_request->initial_pose.position.y = request->y;
   spawn_request->initial_pose.position.z = request->z;
-  spawn_request->initial_pose.orientation.w = 1.0;
+  spawn_request->initial_pose.orientation.w = 1.0; // 默认无旋转
 
   // 发送请求
-  auto future = spawn_entity_client_->async_send_request(spawn_request);
+  auto future_response = spawn_entity_client_->async_send_request(spawn_request);
   
-  // 等待响应
+  // 让我们先尝试一个简单的阻塞获取，看看gazebo服务是否足够快
-  if (rclcpp::spin_until_future_complete(shared_from_this(), future) ==
+  std::chrono::seconds timeout(5); // 设置一个超时
-    rclcpp::FutureReturnCode::SUCCESS)
+  auto future_status = future_response.wait_for(timeout);
-  {
+
-    auto spawn_response = future.get();
+  if (future_status == std::future_status::ready) {
-    response->success = spawn_response->success;
+    auto spawn_response_ptr = future_response.get();
+    response->success = spawn_response_ptr->success;
     if (response->success) {
       response->message = "Successfully placed marker '" + marker_name + "' at (" 
         + std::to_string(request->x) + ", " 
         + std::to_string(request->y) + ", " 
         + std::to_string(request->z) + ")";
     } else {
-      response->message = "Failed to place marker: " + spawn_response->status_message;
+      response->message = "Failed to place marker: " + spawn_response_ptr->status_message;
     }
-  } else {
+  } else if (future_status == std::future_status::timeout) {
     response->success = false;
-    response->message = "Failed to call spawn_entity service";
+    response->message = "Gazebo spawn_entity service call timed out";
+  } else { // deferred
+    response->success = false;
+    response->message = "Gazebo spawn_entity service call deferred or error";
   }
   
-  RCLCPP_INFO(get_logger(), "%s", response->message.c_str());
+  if (response->success) {
+      RCLCPP_INFO(get_logger(), "%s", response->message.c_str());
+  } else {
+      RCLCPP_ERROR(get_logger(), "%s", response->message.c_str());
+  }
 }
 
 std::string MarkerService::generate_marker_sdf(const std::string & color, double radius)