SET TIP RACK

unilabos/registry/devices/camera.yaml

@@ -47,6 +47,8 @@ camera:
   description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
   handles: []
   icon: ''
+  category:
+    - camera
   init_param_schema:
     config:
       properties:

unilabos/registry/registry.py

@@ -147,7 +147,8 @@ class Registry:
         logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
         current_resource_number = len(self.resource_type_registry) + 1
         for i, file in enumerate(files):
-            data = yaml.safe_load(open(file, encoding="utf-8"))
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
             if data:
                 # 为每个资源添加文件路径信息
                 for resource_id, resource_info in data.items():
@@ -344,6 +345,7 @@ class Registry:
         }
 
     def load_device_types(self, path: os.PathLike, complete_registry: bool):
+        return
         abs_path = Path(path).absolute()
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"

unilabos_msgs/CMakeLists.txt

@@ -65,6 +65,7 @@ set(action_files
   "action/LiquidHandlerReturnTips.action"
   "action/LiquidHandlerReturnTips96.action"
   "action/LiquidHandlerSetLiquid.action"
+  "action/LiquidHandlerSetTipRack.action"
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 

unilabos_msgs/action/LiquidHandlerSetTipRack.action

@@ -0,0 +1,5 @@
+Resource[] tip_racks
+---
+string return_info
+bool success
+---