更新电化学工作站与拉曼光谱的驱动

examples/dh_7000_eis.py

@@ -0,0 +1,34 @@
+import rclpy
+
+# Initialize ROS communications for a given context
+if(rclpy.ok() == False):
+    rclpy.init()
+else:
+    print("rclpy already initiated")
+
+from unilabos.devices.dh_electrochem.dh_7000 import DH7000
+from unilabos_msgs.action import SendCmd
+from std_msgs.msg import Float64, String, Int16
+from unilabos.ros.device_node_wrapper import ros2_device_node
+import clr
+import os
+
+# dll_path = r'D:\UniLab\code\DHElecChem\release64'
+# eccore_dll_path = os.path.join(dll_path, 'ECCore.dll')
+# os.environ["PATH"] = dll_path + os.pathsep + os.environ["PATH"]
+# clr.AddReference(eccore_dll_path)
+# from ECCore import ElecMachines
+
+ROS2_DH7000 = ros2_device_node(
+    DH7000, 
+    status_types={'machine_id': Int16, 'status': String}, 
+    action_value_mappings={'dh_cmd': {
+        'type': SendCmd, 
+        'goal': {'command': 'command'},
+        'feedback': {},
+        'result': {'success': 'success'}}
+    }
+)
+
+device = ROS2_DH7000(device_id='DH7000_1')
+rclpy.spin(device.ros_node_instance)