修复了部分的protocol因为XDL更新导致的问题

但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器
2026-02-07 07:25:15 +00:00 · 2025-07-06 19:21:53 +08:00
parent bef44b2293
commit 4c6e437eb1
18 changed files with 3034 additions and 1606 deletions
--- a/unilabos_msgs/action/PumpTransfer.action
+++ b/unilabos_msgs/action/PumpTransfer.action
@@ -9,6 +9,11 @@ string rinsing_solvent
 float64 rinsing_volume
 int32 rinsing_repeats
 bool solid
+float64 flowrate
+float64 transfer_flowrate
+string rate_spec
+string event
+string through
 ---
 string return_info
 bool success