Update to ROS2 Humble 0.7

.github/workflows/ci-check.yml

@@ -31,12 +31,14 @@ jobs:
           auto-update-conda: false
           show-channel-urls: true
 
-      - name: Install ROS dependencies and unilabos-msgs
+      - 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 \
+            conda-forge::opencv \
             robostack-staging::ros-humble-ros-core \
             robostack-staging::ros-humble-action-msgs \
             robostack-staging::ros-humble-std-msgs \
@@ -57,36 +59,14 @@ jobs:
         run: |
           # Activate the environment
           conda activate check-env
-          
-          # Core dependencies for devices
-          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: |

.github/workflows/conda-pack-build.yml

@@ -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/

.github/workflows/deploy-docs.yml

@@ -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 }}

.github/workflows/unilabos-conda-build.yml

@@ -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'