mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 05:15:10 +00:00
Update to ROS2 Humble 0.7
This commit is contained in:
Xuwznln
60
.conda/base/recipe.yaml
Normal file
60
.conda/base/recipe.yaml
Normal file
@@ -0,0 +1,60 @@
|
||||
# unilabos: Production package (depends on unilabos-env + pip unilabos)
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# For production deployment
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package:
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name: unilabos
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version: 0.10.16
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source:
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path: ../../unilabos
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target_directory: unilabos
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||||
build:
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||||
python:
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entry_points:
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- unilab = unilabos.app.main:main
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script:
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- set PIP_NO_INDEX=
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- if: win
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||||
then:
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- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
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- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
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- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
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- pip install %SRC_DIR%
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- if: unix
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then:
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- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
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- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
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- cp $RECIPE_DIR/../../setup.py $SRC_DIR
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- uv pip install $SRC_DIR
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requirements:
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host:
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||||
- python ==3.11.14
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- pip
|
||||
- setuptools
|
||||
- zstd
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||||
- zstandard
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run:
|
||||
- zstd
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||||
- zstandard
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||||
- networkx
|
||||
- typing_extensions
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||||
- websockets
|
||||
- opentrons_shared_data
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||||
- pint
|
||||
- fastapi
|
||||
- jinja2
|
||||
- requests
|
||||
- uvicorn
|
||||
- opcua
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||||
- pyserial
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- pandas
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- pymodbus
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||||
- matplotlib
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||||
- uni-lab::unilabos-env ==0.10.16
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||||
|
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about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
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||||
license: GPL-3.0-only
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||||
description: "UniLabOS - Production package with minimal ROS2 dependencies"
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||||
42
.conda/full/recipe.yaml
Normal file
42
.conda/full/recipe.yaml
Normal file
@@ -0,0 +1,42 @@
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||||
# unilabos-full: Full package with all features
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# Depends on unilabos + complete ROS2 desktop + dev tools
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package:
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name: unilabos-full
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version: 0.10.16
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build:
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noarch: generic
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requirements:
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run:
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# Base unilabos package (includes unilabos-env)
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- uni-lab::unilabos ==0.10.16
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# Documentation tools
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- sphinx
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- sphinx_rtd_theme
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# Web UI
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- gradio
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- flask
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||||
# Interactive development
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- ipython
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- jupyter
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- jupyros
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- colcon-common-extensions
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# ROS2 full desktop (includes rviz2, gazebo, etc.)
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- robostack-staging::ros-humble-desktop-full
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# Navigation and motion control
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- ros-humble-navigation2
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- ros-humble-ros2-control
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- ros-humble-robot-state-publisher
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- ros-humble-joint-state-publisher
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# MoveIt motion planning
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- ros-humble-moveit
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- ros-humble-moveit-servo
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# Simulation
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- ros-humble-simulation
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|
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about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
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license: GPL-3.0-only
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||||
description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
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@@ -1,91 +0,0 @@
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package:
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name: unilabos
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version: 0.10.15
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|
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source:
|
||||
path: ../unilabos
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||||
target_directory: unilabos
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|
||||
build:
|
||||
python:
|
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entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
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||||
- call %PYTHON% -m pip install %SRC_DIR%
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||||
- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
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- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
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- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||
- $PYTHON -m pip install $SRC_DIR
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||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
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||||
- make
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
- numpy
|
||||
- scipy
|
||||
- pandas
|
||||
- networkx
|
||||
- matplotlib
|
||||
- pint
|
||||
- pyserial
|
||||
- pyusb
|
||||
- pylibftdi
|
||||
- pymodbus
|
||||
- python-can
|
||||
- pyvisa
|
||||
- opencv
|
||||
- pydantic
|
||||
- fastapi
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-sensor-msgs
|
||||
- robostack-staging::ros-humble-trajectory-msgs
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
- ros-humble-rosbridge-server
|
||||
- ros-humble-cv-bridge
|
||||
- ros-humble-tf2
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
- ros-humble-simulation
|
||||
- ros-humble-tf-transformations
|
||||
- transforms3d
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
40
.github/workflows/ci-check.yml
vendored
40
.github/workflows/ci-check.yml
vendored
@@ -31,12 +31,14 @@ jobs:
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
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||||
|
||||
- name: Install ROS dependencies and unilabos-msgs
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||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
# Install all packages together for proper dependency resolution
|
||||
# Use mamba for faster and more reliable solving
|
||||
mamba install -n check-env \
|
||||
python=3.11.14 \
|
||||
conda-forge::uv \
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||||
conda-forge::opencv \
|
||||
robostack-staging::ros-humble-ros-core \
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||||
robostack-staging::ros-humble-action-msgs \
|
||||
robostack-staging::ros-humble-std-msgs \
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||||
@@ -57,36 +59,14 @@ jobs:
|
||||
run: |
|
||||
# Activate the environment
|
||||
conda activate check-env
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||||
|
||||
# Core dependencies for devices
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||||
pip install uv
|
||||
uv pip install networkx \
|
||||
typing_extensions \
|
||||
websockets \
|
||||
msgcenterpy \
|
||||
opentrons_shared_data \
|
||||
pint \
|
||||
fastapi \
|
||||
jinja2 \
|
||||
requests \
|
||||
uvicorn \
|
||||
git+https://github.com/Xuwznln/pylabrobot.git \
|
||||
opencv-python \
|
||||
pyautogui \
|
||||
opcua \
|
||||
pyserial \
|
||||
pandas \
|
||||
crcmod-plus \
|
||||
pymodbus \
|
||||
pywinauto_recorder \
|
||||
matplotlib \
|
||||
|
||||
|
||||
# PyLabRobot (custom fork)
|
||||
pip install
|
||||
|
||||
# Install pip dependencies from requirements.txt (uv already installed via conda)
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
# Install special packages (git-based)
|
||||
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
||||
# Remove conflicting package
|
||||
uv pip uninstall enum34 || true
|
||||
# Install unilabos in editable mode
|
||||
pip install -e .
|
||||
uv pip install -e .
|
||||
|
||||
- name: Run check mode (complete_registry)
|
||||
run: |
|
||||
|
||||
39
.github/workflows/conda-pack-build.yml
vendored
39
.github/workflows/conda-pack-build.yml
vendored
@@ -13,6 +13,11 @@ on:
|
||||
required: false
|
||||
default: 'win-64'
|
||||
type: string
|
||||
build_full:
|
||||
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
@@ -69,7 +74,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.11'
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -81,7 +86,14 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
echo Build full: ${{ github.event.inputs.build_full }}
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Installing unilabos-full ^(complete package^)...
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
) else (
|
||||
echo Installing unilabos ^(minimal package^)...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
)
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -89,7 +101,14 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Installing unilabos-full (complete package)..."
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
else
|
||||
echo "Installing unilabos (minimal package)..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
@@ -308,7 +327,12 @@ jobs:
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.11
|
||||
echo Python version: 3.11.14
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
)
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
@@ -328,7 +352,12 @@ jobs:
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.11"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
fi
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
|
||||
31
.github/workflows/deploy-docs.yml
vendored
31
.github/workflows/deploy-docs.yml
vendored
@@ -1,10 +1,12 @@
|
||||
name: Deploy Docs
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main]
|
||||
pull_request:
|
||||
# 在 CI Check 成功后自动触发（仅 main 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -33,12 +35,19 @@ concurrency:
|
||||
jobs:
|
||||
# Build documentation
|
||||
build:
|
||||
# 只在以下情况运行：
|
||||
# 1. workflow_run 触发且 CI Check 成功
|
||||
# 2. 手动触发
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout code
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
||||
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -46,7 +55,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.11'
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -76,7 +85,9 @@ jobs:
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
uses: actions/configure-pages@v4
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
- name: Build Sphinx documentation
|
||||
run: |
|
||||
@@ -95,13 +106,17 @@ jobs:
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v3
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
with:
|
||||
path: docs/_build/html
|
||||
|
||||
# Deploy to GitHub Pages
|
||||
deploy:
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
environment:
|
||||
name: github-pages
|
||||
url: ${{ steps.deployment.outputs.page_url }}
|
||||
|
||||
50
.github/workflows/unilabos-conda-build.yml
vendored
50
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,17 +1,26 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||
required: false
|
||||
default: 'linux-64'
|
||||
build_full:
|
||||
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
upload_to_anaconda:
|
||||
description: '是否上传到Anaconda.org'
|
||||
required: false
|
||||
@@ -20,6 +29,14 @@ on:
|
||||
|
||||
jobs:
|
||||
build:
|
||||
# 只在以下情况运行：
|
||||
# 1. workflow_run 触发且 CI Check 成功
|
||||
# 2. 标签推送（发布版本）
|
||||
# 3. 手动触发
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
github.event_name == 'push' ||
|
||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -81,12 +98,33 @@ jobs:
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
echo "Building UniLabOS package"
|
||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
||||
echo "Building packages:"
|
||||
echo " - unilabos-env (environment dependencies)"
|
||||
echo " - unilabos (with pip package)"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
|
||||
- name: Build conda package
|
||||
- name: Build unilabos-env (conda environment only, noarch)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
echo "Building unilabos-env (conda environment dependencies)..."
|
||||
rattler-build build -r .conda/env/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: Build unilabos (with pip package)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos package..."
|
||||
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: List built packages
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
recursive-include unilabos/test *
|
||||
recursive-include unilabos/utils *
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web/static *
|
||||
recursive-include unilabos/app/web/templates *
|
||||
|
||||
38
README.md
38
README.md
@@ -31,26 +31,46 @@ Detailed documentation can be found at:
|
||||
|
||||
## Quick Start
|
||||
|
||||
1. Setup Conda Environment
|
||||
### 1. Setup Conda Environment
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management:
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
||||
|
||||
| Package | Use Case | Contents |
|
||||
|---------|----------|----------|
|
||||
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
||||
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
||||
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option A: Standard installation (recommended for most users)
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option B: For developers (editable mode development)
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# Then install unilabos and dependencies:
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Option C: Full installation (simulation/visualization)
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
2. Install Dev Uni-Lab-OS
|
||||
**When to use which?**
|
||||
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
||||
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
||||
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
||||
|
||||
### 2. Clone Repository (Optional, for developers)
|
||||
|
||||
```bash
|
||||
# Clone the repository
|
||||
# Clone the repository (only needed for development or examples)
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System
|
||||
|
||||
38
README_zh.md
38
README_zh.md
@@ -31,26 +31,46 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
## 快速开始
|
||||
|
||||
1. 配置 Conda 环境
|
||||
### 1. 配置 Conda 环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
||||
|
||||
| 安装包 | 适用场景 | 包含内容 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整安装（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
2. 安装开发版 Uni-Lab-OS:
|
||||
**如何选择？**
|
||||
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
||||
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
||||
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
||||
|
||||
### 2. 克隆仓库（可选，供开发者使用）
|
||||
|
||||
```bash
|
||||
# 克隆仓库
|
||||
# 克隆仓库（仅开发或查看示例时需要）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统
|
||||
|
||||
@@ -31,6 +31,14 @@
|
||||
|
||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||
|
||||
**选择合适的安装包：**
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
**关键步骤：**
|
||||
|
||||
```bash
|
||||
@@ -38,15 +46,30 @@
|
||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||
|
||||
# 2. 创建 Conda 环境
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba create -n unilab python=3.11.14
|
||||
|
||||
# 3. 激活环境
|
||||
mamba activate unilab
|
||||
|
||||
# 4. 安装 Uni-Lab-OS
|
||||
# 4. 安装 Uni-Lab-OS（选择其一）
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
||||
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
||||
|
||||
# 方案 C：完整版（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**选择建议：**
|
||||
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
||||
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
||||
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||
|
||||
#### 1.2 验证安装
|
||||
|
||||
```bash
|
||||
@@ -768,7 +791,43 @@ Waiting for host service...
|
||||
|
||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||
|
||||
#### 9.1 为什么需要自定义设备？
|
||||
#### 9.1 开发环境准备
|
||||
|
||||
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
||||
|
||||
```bash
|
||||
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
|
||||
# 2. 克隆代码
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或手动安装：
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
|
||||
**为什么使用这种方式？**
|
||||
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
||||
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
||||
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||
- 使用 `uv` 替代 `pip`，安装速度更快
|
||||
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
||||
|
||||
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
||||
|
||||
```bash
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
#### 9.2 为什么需要自定义设备？
|
||||
|
||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||
|
||||
@@ -777,7 +836,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
||||
- 特殊的实验流程
|
||||
- 第三方设备集成
|
||||
|
||||
#### 9.2 创建 Python 包
|
||||
#### 9.3 创建 Python 包
|
||||
|
||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||
|
||||
@@ -814,7 +873,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||
```
|
||||
|
||||
#### 9.3 创建 setup.py
|
||||
#### 9.4 创建 setup.py
|
||||
|
||||
```python
|
||||
# my_lab_devices/setup.py
|
||||
@@ -845,7 +904,7 @@ setup(
|
||||
)
|
||||
```
|
||||
|
||||
#### 9.4 开发安装
|
||||
#### 9.5 开发安装
|
||||
|
||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||
|
||||
@@ -860,7 +919,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
- 方便调试和测试
|
||||
- 支持版本控制（git）
|
||||
|
||||
#### 9.5 编写设备驱动
|
||||
#### 9.6 编写设备驱动
|
||||
|
||||
创建设备驱动文件：
|
||||
|
||||
@@ -1001,7 +1060,7 @@ class MyPump:
|
||||
- **返回 Dict**：所有动作方法返回字典类型
|
||||
- **文档字符串**：详细说明参数和功能
|
||||
|
||||
#### 9.6 测试设备驱动
|
||||
#### 9.7 测试设备驱动
|
||||
|
||||
创建简单的测试脚本：
|
||||
|
||||
|
||||
@@ -13,15 +13,26 @@
|
||||
- 开发者需要 Git 和基本的 Python 开发知识
|
||||
- 自定义 msgs 需要 GitHub 账号
|
||||
|
||||
## 安装包选择
|
||||
|
||||
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
||||
|--------|----------|----------|----------|
|
||||
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
||||
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
||||
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
||||
|
||||
## 安装方式选择
|
||||
|
||||
根据您的使用场景，选择合适的安装方式：
|
||||
|
||||
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
||||
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
||||
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
||||
|
||||
---
|
||||
|
||||
@@ -144,17 +155,38 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
||||
使用以下命令创建 Uni-Lab 专用环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
||||
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
||||
mamba activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 选择安装包（三选一）：
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和 pip 依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整版（含仿真和可视化工具）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**参数说明**:
|
||||
|
||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
||||
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
||||
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
||||
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||
|
||||
**包选择建议**：
|
||||
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
||||
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
||||
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
||||
|
||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||
|
||||
```bash
|
||||
@@ -163,8 +195,14 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||
|
||||
# 然后重新执行安装命令
|
||||
# 然后重新执行安装命令（推荐标准安装）
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||
|
||||
# 或完整版（仿真/可视化）
|
||||
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
||||
|
||||
# pip 安装时使用清华镜像（开发者安装时使用）
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
@@ -203,58 +241,87 @@ cd Uni-Lab-OS
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
### 第二步：安装基础环境
|
||||
### 第二步：安装开发环境（unilabos-env）
|
||||
|
||||
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
||||
|
||||
#### 选项 A：通过一键安装（推荐）
|
||||
|
||||
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
||||
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
||||
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
||||
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
||||
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
||||
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
||||
|
||||
```bash
|
||||
# 创建并激活环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
|
||||
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
#### 选项 B：通过手动安装
|
||||
### 第三步：安装 pip 依赖和可编辑模式安装
|
||||
|
||||
参考上文"方式二：手动安装"，创建并安装环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11
|
||||
conda activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
||||
|
||||
### 第三步：切换到开发版本
|
||||
|
||||
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
||||
克隆代码并安装依赖：
|
||||
|
||||
```bash
|
||||
# 确保环境已激活
|
||||
conda activate unilab
|
||||
|
||||
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
||||
pip uninstall unilabos -y
|
||||
|
||||
# 克隆 dev 分支（如果还未克隆）
|
||||
cd /path/to/your/workspace
|
||||
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
# 或者如果已经克隆，切换到 dev 分支
|
||||
# 克隆仓库（如果还未克隆）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 切换到 dev 分支（可选）
|
||||
git checkout dev
|
||||
git pull
|
||||
|
||||
# 以可编辑模式安装开发版 unilabos
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**参数说明**：
|
||||
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
||||
|
||||
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
||||
- `-i`: 使用清华镜像源加速下载
|
||||
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
||||
```bash
|
||||
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或者手动指定：
|
||||
python scripts/dev_install.py --china # 强制使用清华镜像
|
||||
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
||||
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
||||
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
||||
```
|
||||
|
||||
**手动安装**（如果脚本安装失败或速度太慢）：
|
||||
|
||||
```bash
|
||||
# 1. 安装 unilabos（可编辑模式）
|
||||
pip install -e .
|
||||
|
||||
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 国内用户使用清华镜像：
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**注意**：
|
||||
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
||||
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
||||
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
||||
|
||||
**为什么使用可编辑模式？**
|
||||
|
||||
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
||||
- 适合开发调试：修改代码后直接运行测试
|
||||
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
||||
|
||||
**验证安装**：
|
||||
|
||||
```bash
|
||||
# 检查 unilabos 版本
|
||||
python -c "import unilabos; print(unilabos.__version__)"
|
||||
|
||||
# 检查安装位置（应该指向你的代码目录）
|
||||
pip show unilabos | grep Location
|
||||
```
|
||||
|
||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||
|
||||
@@ -464,7 +531,45 @@ cd $CONDA_PREFIX/envs/unilab
|
||||
|
||||
### 问题 8: 环境很大，有办法减小吗？
|
||||
|
||||
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
||||
**解决方案**:
|
||||
|
||||
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
||||
|
||||
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后手动安装依赖
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
开发者版只包含环境依赖，体积最小约 2GB。
|
||||
|
||||
3. **按需安装额外组件**：
|
||||
如果后续需要特定功能，可以单独安装：
|
||||
```bash
|
||||
# 需要 Jupyter
|
||||
mamba install jupyter jupyros
|
||||
|
||||
# 需要可视化
|
||||
mamba install matplotlib opencv
|
||||
|
||||
# 需要仿真（注意：这会安装大量依赖）
|
||||
mamba install ros-humble-gazebo-ros
|
||||
```
|
||||
|
||||
4. **预打包环境问题**：
|
||||
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
||||
|
||||
**包选择建议**：
|
||||
| 需求 | 推荐包 | 预估大小 |
|
||||
|------|--------|----------|
|
||||
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
||||
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
||||
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
||||
|
||||
### 问题 9: 如何更新到最新版本？
|
||||
|
||||
@@ -511,6 +616,7 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
||||
|
||||
**提示**:
|
||||
|
||||
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
||||
- 开发和测试推荐使用方式三（开发者安装）
|
||||
- 快速体验和演示推荐使用方式一（一键安装）
|
||||
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
||||
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
||||
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
||||
- **快速体验和演示**推荐使用方式一（一键安装）
|
||||
|
||||
@@ -85,7 +85,7 @@ Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.11)
|
||||
- Python version (3.11.14)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
@@ -104,7 +104,7 @@ Build Information:
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.11
|
||||
Python: 3.11.14
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
|
||||
214
scripts/dev_install.py
Normal file
214
scripts/dev_install.py
Normal file
@@ -0,0 +1,214 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Development installation script for UniLabOS.
|
||||
Auto-detects Chinese locale and uses appropriate mirror.
|
||||
|
||||
Usage:
|
||||
python scripts/dev_install.py
|
||||
python scripts/dev_install.py --no-mirror # Force no mirror
|
||||
python scripts/dev_install.py --china # Force China mirror
|
||||
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
||||
|
||||
Flow:
|
||||
1. pip install -e . (install unilabos in editable mode)
|
||||
2. Detect Chinese locale
|
||||
3. Use uv to install pip dependencies from requirements.txt
|
||||
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
||||
"""
|
||||
|
||||
import locale
|
||||
import subprocess
|
||||
import sys
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
|
||||
# Tsinghua mirror URL
|
||||
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
|
||||
def is_chinese_locale() -> bool:
|
||||
"""
|
||||
Detect if system is in Chinese locale.
|
||||
Same logic as EnvironmentChecker._is_chinese_locale()
|
||||
"""
|
||||
try:
|
||||
lang = locale.getdefaultlocale()[0]
|
||||
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
|
||||
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
||||
"""Run command with retry support."""
|
||||
print(f"[INFO] {description}")
|
||||
print(f"[CMD] {' '.join(cmd)}")
|
||||
|
||||
for attempt in range(retry + 1):
|
||||
try:
|
||||
result = subprocess.run(cmd, check=True, timeout=600)
|
||||
print(f"[OK] {description}")
|
||||
return True
|
||||
except subprocess.CalledProcessError as e:
|
||||
if attempt < retry:
|
||||
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
||||
else:
|
||||
print(f"[ERROR] {description} failed: {e}")
|
||||
return False
|
||||
except subprocess.TimeoutExpired:
|
||||
print(f"[ERROR] {description} timed out")
|
||||
return False
|
||||
return False
|
||||
|
||||
|
||||
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
||||
"""Install unilabos in editable mode using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing unilabos in editable mode")
|
||||
|
||||
|
||||
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
||||
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
||||
|
||||
|
||||
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Fallback: Install pip dependencies using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
||||
|
||||
|
||||
def check_uv_available() -> bool:
|
||||
"""Check if uv is available (installed via conda-forge::uv)."""
|
||||
try:
|
||||
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
||||
return True
|
||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
||||
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
||||
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
||||
parser.add_argument(
|
||||
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
||||
)
|
||||
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Determine project root
|
||||
script_dir = Path(__file__).parent
|
||||
project_root = script_dir.parent
|
||||
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
||||
|
||||
if not (project_root / "setup.py").exists():
|
||||
print(f"[ERROR] setup.py not found in {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print("=" * 60)
|
||||
print("UniLabOS Development Installation")
|
||||
print("=" * 60)
|
||||
print(f"Project root: {project_root}")
|
||||
print()
|
||||
|
||||
# Determine mirror usage based on locale
|
||||
if args.no_mirror:
|
||||
use_mirror = False
|
||||
print("[INFO] Mirror disabled by --no-mirror flag")
|
||||
elif args.china:
|
||||
use_mirror = True
|
||||
print("[INFO] China mirror enabled by --china flag")
|
||||
else:
|
||||
use_mirror = is_chinese_locale()
|
||||
if use_mirror:
|
||||
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
||||
else:
|
||||
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
||||
|
||||
print()
|
||||
|
||||
# Step 1: Install unilabos in editable mode
|
||||
print("[STEP 1] Installing unilabos in editable mode...")
|
||||
if not install_editable(project_root, use_mirror):
|
||||
print("[ERROR] Failed to install unilabos")
|
||||
print()
|
||||
print("Manual fallback:")
|
||||
if use_mirror:
|
||||
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" pip install -e {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print()
|
||||
|
||||
# Step 2: Install pip dependencies
|
||||
if args.skip_deps:
|
||||
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
||||
else:
|
||||
print("[STEP 2] Installing pip dependencies...")
|
||||
|
||||
if not requirements_file.exists():
|
||||
print(f"[WARN] Requirements file not found: {requirements_file}")
|
||||
print("[INFO] Skipping dependencies installation")
|
||||
else:
|
||||
# Try uv first (faster), fallback to pip
|
||||
if args.use_pip:
|
||||
print("[INFO] Using pip (--use-pip flag)")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
elif check_uv_available():
|
||||
print("[INFO] Using uv (installed via conda-forge::uv)")
|
||||
success = install_requirements_uv(requirements_file, use_mirror)
|
||||
if not success:
|
||||
print("[WARN] uv failed, falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
else:
|
||||
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
||||
print("[INFO] Falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
|
||||
if not success:
|
||||
print()
|
||||
print("[WARN] Failed to install some dependencies automatically.")
|
||||
print("You can manually install them:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" uv pip install -r {requirements_file}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file}")
|
||||
|
||||
print()
|
||||
print("=" * 60)
|
||||
print("Installation complete!")
|
||||
print("=" * 60)
|
||||
print()
|
||||
print("Note: Some special packages (like pylabrobot) are installed")
|
||||
print("automatically at runtime by unilabos if needed.")
|
||||
print()
|
||||
print("Verify installation:")
|
||||
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
||||
print()
|
||||
print("If you encounter issues, you can manually install dependencies:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(" uv pip install -r unilabos/utils/requirements.txt")
|
||||
print()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,13 +1,11 @@
|
||||
import argparse
|
||||
import asyncio
|
||||
import os
|
||||
import shutil
|
||||
import signal
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from typing import Dict, Any, List
|
||||
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
@@ -17,9 +15,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
# Global restart flags (used by ws_client and web/server)
|
||||
_restart_requested: bool = False
|
||||
|
||||
@@ -4,8 +4,40 @@ UniLabOS 应用工具函数
|
||||
提供清理、重启等工具函数
|
||||
"""
|
||||
|
||||
import gc
|
||||
import glob
|
||||
import os
|
||||
import shutil
|
||||
import sys
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||
return
|
||||
try:
|
||||
import rclpy
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
if not os.path.exists(impl) or not pyd:
|
||||
return
|
||||
with open(impl, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||
shutil.copy2(impl, impl + ".bak")
|
||||
with open(impl, "w", encoding="utf-8") as f:
|
||||
f.write(patch + content)
|
||||
|
||||
|
||||
patch_rclpy_dll_windows()
|
||||
|
||||
import gc
|
||||
import threading
|
||||
import time
|
||||
|
||||
|
||||
17
unilabos/utils/requirements.txt
Normal file
17
unilabos/utils/requirements.txt
Normal file
@@ -0,0 +1,17 @@
|
||||
networkx
|
||||
typing_extensions
|
||||
websockets
|
||||
msgcenterpy>=0.1.5
|
||||
opentrons_shared_data
|
||||
pint
|
||||
fastapi
|
||||
jinja2
|
||||
requests
|
||||
uvicorn
|
||||
pyautogui
|
||||
opcua
|
||||
pyserial
|
||||
pandas
|
||||
crcmod-plus
|
||||
pymodbus
|
||||
matplotlib
|
||||
Reference in New Issue
Block a user