mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
Squash merge from dev
Update recipe.yaml fix: figure_resource use call_async in all service to avoid deadlock fix: prcxi import error 临时兼容错误的driver写法 fix protocol node fix filter protocol bugfixes on organic protocols fix and remove redundant info feat: 新增use_remote_resource参数 fix all protocol_compilers and remove deprecated devices feat: 优化protocol node节点运行日志 fix pumps and liquid_handler handle feat: workstation example add: prcxi res fix: startup slow fix: prcxi_res fix: discard_tips fix: discard_tips error fix: drop_tips not using auto resource select feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) feat: add trace log level modify default discovery_interval to 15s fix: working dir error when input config path feat: report publish topic when error fix: workstation handlers and vessel_id parsing Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Junhan Chang
Xuwznln
@@ -1,3 +1,355 @@
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robotic_arm.SCARA_with_slider.virtual:
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category:
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- robot_arm
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class:
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action_value_mappings:
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auto-check_tf_update_actions:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: check_tf_update_actions的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: check_tf_update_actions参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_joint_task:
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feedback: {}
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goal: {}
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goal_default:
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joint_names: null
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joint_positions: null
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move_group: null
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retry: 10
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speed: 1
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handles: []
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result: {}
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schema:
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description: moveit_joint_task的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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joint_names:
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type: string
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joint_positions:
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type: string
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move_group:
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type: string
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retry:
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default: 10
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type: string
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speed:
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default: 1
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type: string
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required:
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- move_group
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- joint_positions
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type: object
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result: {}
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required:
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- goal
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title: moveit_joint_task参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_task:
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feedback: {}
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goal: {}
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goal_default:
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cartesian: false
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move_group: null
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offsets:
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- 0
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- 0
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- 0
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position: null
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quaternion: null
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retry: 10
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speed: 1
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target_link: null
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handles: []
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result: {}
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schema:
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description: moveit_task的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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cartesian:
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default: false
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type: string
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move_group:
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type: string
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offsets:
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default:
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- 0
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- 0
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- 0
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type: string
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position:
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type: string
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quaternion:
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type: string
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retry:
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default: 10
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type: string
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speed:
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default: 1
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type: string
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target_link:
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type: string
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required:
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- move_group
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- position
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- quaternion
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type: object
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result: {}
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required:
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- goal
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title: moveit_task参数
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type: object
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type: UniLabJsonCommand
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auto-post_init:
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feedback: {}
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goal: {}
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goal_default:
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ros_node: null
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handles: []
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result: {}
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schema:
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description: post_init的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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ros_node:
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type: string
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required:
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- ros_node
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type: object
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result: {}
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required:
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- goal
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title: post_init参数
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type: object
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type: UniLabJsonCommand
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auto-resource_manager:
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feedback: {}
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goal: {}
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goal_default:
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parent_link: null
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resource: null
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handles: []
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result: {}
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schema:
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description: resource_manager的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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parent_link:
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type: string
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resource:
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type: string
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required:
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- resource
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- parent_link
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type: object
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result: {}
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required:
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- goal
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title: resource_manager参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_resource_action:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: wait_for_resource_action的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: wait_for_resource_action参数
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type: object
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type: UniLabJsonCommand
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pick_and_place:
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feedback: {}
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goal:
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command: command
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goal_default:
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command: ''
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties:
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status:
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type: string
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required:
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- status
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title: SendCmd_Feedback
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type: object
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goal:
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properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: SendCmd_Result
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type: object
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required:
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- goal
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title: SendCmd
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type: object
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type: SendCmd
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set_position:
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feedback: {}
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goal:
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command: command
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goal_default:
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command: ''
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties:
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status:
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type: string
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required:
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- status
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title: SendCmd_Feedback
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type: object
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goal:
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properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: SendCmd_Result
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type: object
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required:
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- goal
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title: SendCmd
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type: object
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type: SendCmd
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set_status:
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feedback: {}
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goal:
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command: command
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goal_default:
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command: ''
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties:
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status:
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type: string
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required:
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- status
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title: SendCmd_Feedback
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type: object
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goal:
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properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: SendCmd_Result
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type: object
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required:
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- goal
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title: SendCmd
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type: object
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type: SendCmd
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module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
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status_types: {}
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type: python
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config_info: []
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description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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device_config:
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type: string
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joint_poses:
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type: string
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moveit_type:
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type: string
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rotation:
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type: string
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required:
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- moveit_type
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- joint_poses
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type: object
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data:
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properties: {}
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required: []
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type: object
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model:
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mesh: arm_slider
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type: device
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version: 1.0.0
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robotic_arm.UR:
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category:
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- robot_arm
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