Dev v0.9.0 (#23)

Add high-level PLR functions
Add Laiyu/Zhida driver support
Fix ROS node discovery issues
Add hostname and resource query support
Fix ROS message conversion logic
Support configuration via environment variables

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

README.md

@@ -42,10 +42,11 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.8.0-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.0-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
-git clone https://github.com/PyLabRobot/pylabrobot
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
 pip install .[opentrons]
 ```
 

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.8.0
+  version: 0.9.0
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.8.0"
+  version: "0.9.0"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.8.0',
+    version='0.9.0',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/commands/resource_add.md

@@ -0,0 +1,5 @@
+使用plr_test.json启动，将Well加入Plate中
+
+```bash
+ros2 action send_goal /devices/host_node/add_resource_from_outer unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
+```

test/experiments/plr_test.json

@@ -6679,8 +6679,7 @@
                 "plate_well_11_3",
                 "plate_well_11_4",
                 "plate_well_11_5",
-                "plate_well_11_6",
+                "plate_well_11_6"
-                "plate_well_11_7"
             ],
             "parent": "deck",
             "type": "device",
@@ -10508,45 +10507,6 @@
                 "pending_liquids": [],
                 "liquid_history": []
             }
-        },
-        {
-            "id": "plate_well_11_7",
-            "name": "plate_well_11_7",
-            "sample_id": null,
-            "children": [],
-            "parent": "plate",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 109.87,
-                "y": 7.77,
-                "z": 3.03
-            },
-            "config": {
-                "type": "Well",
-                "size_x": 6.86,
-                "size_y": 6.86,
-                "size_z": 10.67,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "well",
-                "model": null,
-                "max_volume": 360,
-                "material_z_thickness": 0.5,
-                "compute_volume_from_height": null,
-                "compute_height_from_volume": null,
-                "bottom_type": "flat",
-                "cross_section_type": "circle"
-            },
-            "data": {
-                "liquids": [],
-                "pending_liquids": [],
-                "liquid_history": []
-            }
         }
     ],
     "links": []

test/experiments/test.json

@@ -4,13 +4,14 @@
             "id": "Gripper1",
             "name": "假夹爪",
             "children": [
+                "Plate1"
             ],
             "parent": null,
             "type": "device",
             "class": "gripper.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 0,
-                "y": 171,
+                "y": 0,
                 "z": 0
             },
             "config": {
@@ -23,18 +24,120 @@
             "name": "Plate1",
             "children": [
             ],
-            "parent": null,
+            "parent": "Gripper1",
             "type": "plate",
-            "class": "nest_96_wellplate_2ml_deep",
+            "class": "nest_96_wellplate_100ul_pcr_full_skirt",
             "position": {
-                "x": 620.6111111111111,
+                "x": 0,
-                "y": 171,
+                "y": 0,
-                "z": 0
+                "z": 69
             },
             "config": {
             },
             "data": {
             }
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+                
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+                
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
         }
     ],
     "links": [

test/experiments/test_copy.json

@@ -0,0 +1,135 @@
+{
+    "nodes": [
+        {
+            "id": "PLR_STATION",
+            "name": "PLR_LH_TEST",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "data": {
+                    "children": [
+                        {
+                            "_resource_child_name": "deck",
+                            "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
+                        }
+                    ],
+                    "backend": {
+                        "type": "LiquidHandlerRvizBackend"
+                    }
+                }
+            },
+            "data": {},
+            "children": [
+                "deck"
+            ]
+        },
+        {
+            "id": "deck",
+            "name": "deck",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier"
+            ],
+            "parent": "PLR_STATION",
+            "type": "deck",
+            "class": "OTDeck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "OTDeck",
+                "with_trash": false,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        },
+
+        {
+            "id": "teaching_carrier",
+            "name": "teaching_carrier",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier_A1"
+            ],
+            "parent": "deck",
+            "type": "plate",
+            "class": "opentrons_96_filtertiprack_1000ul",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 69
+            },
+            "config": {
+                "type": "Resource",
+                "size_x": 127,
+                "size_y": 85,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": null,
+                "model": null
+            },
+            "data": {}
+        },
+        {
+            "id": "teaching_carrier_A1",
+            "name": "teaching_carrier_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "teaching_carrier",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 10.87,
+                "y": 70.77,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 6.86,
+                "size_y": 6.86,
+                "size_z": 10.67,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}

unilabos-linux-64.yaml

@@ -59,3 +59,5 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos-osx-64.yaml

@@ -59,3 +59,5 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos-osx-arm64.yaml

@@ -61,3 +61,5 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos-win64.yaml

@@ -58,4 +58,6 @@ dependencies:
   - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  # ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos/app/backend.py

@@ -7,11 +7,13 @@ from unilabos.utils import logger
 def start_backend(
     backend: str,
     devices_config: dict = {},
-    resources_config: dict = {},
+    resources_config: list = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],
     without_host: bool = False,
+    visual: str = "None",
+    resources_mesh_config: dict = {},
     **kwargs
 ):
     if backend == "ros":
@@ -29,7 +31,9 @@ def start_backend(
     
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges)
+        args=(devices_config, resources_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        name="backend_thread",
+        daemon=True,
     )
     backend_thread.start()
     logger.info(f"Backend {backend} started.")

unilabos/app/controler.py

@@ -29,6 +29,8 @@ def job_add(req: JobAddReq) -> JobData:
     req.data['action'] = action_name
     if action_name == "execute_command_from_outer":
         action_kwargs = {"command": json.dumps(action_kwargs)}
+    elif "command" in action_kwargs:
+        action_kwargs = action_kwargs["command"]
     print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
     HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
     return JobData(jobId=req.job_id)

unilabos/app/main.py

@@ -1,19 +1,24 @@
 import argparse
+import asyncio
+import json
 import os
 import signal
 import sys
-import json
+import threading
-import yaml
+import time
 from copy import deepcopy
 
+import yaml
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
-ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
+unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
-if ilabos_dir not in sys.path:
+if unilabos_dir not in sys.path:
-    sys.path.append(ilabos_dir)
+    sys.path.append(unilabos_dir)
 
 from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
+from unilabos.device_mesh.resource_visalization import ResourceVisualization
 
 
 def parse_args():
@@ -65,12 +70,21 @@ def parse_args():
         help="信息页web服务的启动端口",
     )
     parser.add_argument(
-        "--open_browser",
+        "--disable_browser",
-        type=bool,
+        action='store_true',
-        default=True,
+        help="是否在启动时关闭信息页",
-        help="是否在启动时打开信息页",
+    )
+    parser.add_argument(
+        "--2d_vis",
+        action='store_true',
+        help="是否在pylabrobot实例启动时，同时启动可视化",
+    )
+    parser.add_argument(
+        "--visual",
+        choices=["rviz", "web", "disable"],
+        default="disable",
+        help="选择可视化工具: rviz, web",
     )
-
     return parser.parse_args()
 
 
@@ -101,6 +115,7 @@ def main():
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
+    BasicConfig.vis_2d_enable = args_dict["2d_vis"]
 
     from unilabos.resources.graphio import (
         read_node_link_json,
@@ -121,6 +136,7 @@ def main():
     # 注册表
     build_registry(args_dict["registry_path"])
 
+    devices_and_resources = None
     if args_dict["graph"] is not None:
         import unilabos.resources.graphio as graph_res
         graph_res.physical_setup_graph = (
@@ -132,6 +148,7 @@ def main():
         args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
         args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
         # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
+
         args_dict["graph"] = graph_res.physical_setup_graph
     else:
         if args_dict["devices"] is None or args_dict["resources"] is None:
@@ -166,9 +183,28 @@ def main():
         signal.signal(signal.SIGINT, _exit)
         signal.signal(signal.SIGTERM, _exit)
         mqtt_client.start()
-
+    args_dict["resources_mesh_config"] = {}
-    start_backend(**args_dict)
+    # web visiualize 2D
-    start_server(port=args_dict.get("port", 8002), open_browser=args_dict.get("open_browser", False))
+    if args_dict["visual"] != "disable":
+        enable_rviz = args_dict["visual"] == "rviz"
+        if devices_and_resources is not None:
+            resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
+            args_dict["resources_mesh_config"] = resource_visualization.resource_model
+            start_backend(**args_dict)
+            server_thread = threading.Thread(target=start_server, kwargs=dict(
+                open_browser=not args_dict["disable_browser"]
+            ))
+            server_thread.start()
+            asyncio.set_event_loop(asyncio.new_event_loop())
+            resource_visualization.start()
+            while True:
+                time.sleep(1)
+        else:
+            start_backend(**args_dict)
+            start_server(open_browser=not args_dict["disable_browser"])
+    else:
+        start_backend(**args_dict)
+        start_server(open_browser=not args_dict["disable_browser"])
 
 
 if __name__ == "__main__":

unilabos/app/mq.py

@@ -1,5 +1,6 @@
 import json
 import time
+import traceback
 import uuid
 
 import paho.mqtt.client as mqtt
@@ -35,7 +36,8 @@ class MQTTClient:
         self.client.on_disconnect = self._on_disconnect
 
     def _on_log(self, client, userdata, level, buf):
-        logger.info(f"[MQTT] log: {buf}")
+        # logger.info(f"[MQTT] log: {buf}")
+        pass
 
     def _on_connect(self, client, userdata, flags, rc, properties=None):
         logger.info("[MQTT] Connected with result code " + str(rc))
@@ -54,6 +56,12 @@ class MQTTClient:
             logger.debug("Payload:", json.dumps(payload_json, indent=2, ensure_ascii=False))
             if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
                 logger.debug("job_add", type(payload_json), payload_json)
+                if "data" not in payload_json:
+                    payload_json["data"] = {}
+                if "action" in payload_json:
+                    payload_json["data"]["action"] = payload_json.pop("action")
+                if "action_kwargs" in payload_json:
+                    payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
                 job_req = JobAddReq.model_validate(payload_json)
                 data = job_add(job_req)
                 return
@@ -61,8 +69,10 @@ class MQTTClient:
         except json.JSONDecodeError as e:
             logger.error(f"[MQTT] JSON 解析错误: {e}")
             logger.error(f"[MQTT] Raw message: {msg.payload}")
+            logger.error(traceback.format_exc())
         except Exception as e:
             logger.error(f"[MQTT] 处理消息时出错: {e}")
+            logger.error(traceback.format_exc())
 
     def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
         if rc != 0:

unilabos/app/web/client.py

@@ -9,6 +9,7 @@ from typing import List, Dict, Any, Optional
 import requests
 from unilabos.utils.log import info
 from unilabos.config.config import MQConfig, HTTPConfig
+from unilabos.utils import logger
 
 
 class HTTPClient:
@@ -102,6 +103,30 @@ class HTTPClient:
         )
         return response
 
+    def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
+        """
+        上传文件到服务器
+
+        使用multipart/form-data格式上传文件，类似curl -F "files=@filepath"
+
+        Args:
+            file_path: 要上传的文件路径
+            scene: 上传场景，可选值为"user"或"models"，默认为"models"
+
+        Returns:
+            Response: API响应对象
+        """
+        with open(file_path, "rb") as file:
+            files = {"files": file}
+            logger.info(f"上传文件: {file_path} 到 {scene}")
+            response = requests.post(
+                f"{self.remote_addr}/api/account/file_upload/{scene}",
+                files=files,
+                headers={"Authorization": f"lab {self.auth}"},
+                timeout=30,  # 上传文件可能需要更长的超时时间
+            )
+        return response
+
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/utils/action_utils.py

@@ -8,7 +8,7 @@ import traceback
 from typing import Dict, Any, Type, TypedDict, Optional
 
 from rclpy.action import ActionClient, ActionServer
-from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
+from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString
 
 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -74,7 +74,6 @@ def get_yaml_from_goal_type(goal_type) -> str:
         for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
             slot_name, slot_type = slot_info
             type_info = goal_type.SLOT_TYPES[ind]
-            default_value = "unknown"
             if isinstance(type_info, UnboundedSequence):
                 inner_type = type_info.value_type
                 if isinstance(inner_type, NamespacedType):
@@ -83,8 +82,10 @@ def get_yaml_from_goal_type(goal_type) -> str:
                     default_value = [get_ros_msg_instance_as_dict(type_class())]
                 elif isinstance(inner_type, BasicType):
                     default_value = [get_default_value_for_ros_type(inner_type.typename)]
+                elif isinstance(inner_type, UnboundedString):
+                    default_value = [""]
                 else:
-                    default_value = "unknown"
+                    default_value = []
             elif isinstance(type_info, NamespacedType):
                 cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
                 type_class = msg_converter_manager.get_class(cls_name)
@@ -93,6 +94,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
                 default_value = get_ros_msg_instance_as_dict(type_class())
             elif isinstance(type_info, BasicType):
                 default_value = get_default_value_for_ros_type(type_info.typename)
+            elif isinstance(type_info, UnboundedString):
+                default_value = ""
             else:
                 type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
                 if type_class is not None:

unilabos/config/config.py

@@ -13,6 +13,7 @@ class BasicConfig:
     is_host_mode = True  # 从registry.py移动过来
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
     machine_name = "undefined"
+    vis_2d_enable = False
 
 
 # MQTT配置

unilabos/device_mesh/devices/opentrons_liquid_handler/joint_config.json

@@ -0,0 +1,18 @@
+{
+    "first_joint": {
+        "child":"first_link",
+        "axis" : "-y"
+    },
+    "second_joint": {
+        "child":"second_link",
+        "axis" : "-x"
+    },
+    "third_joint": {
+        "child":"third_link",
+        "axis" : "-z"
+    },
+    "fourth_joint": {
+        "child":"fourth_link",
+        "axis" : "-z"
+    }
+}

unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro

@@ -0,0 +1,210 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="opentrons_liquid_handler" 
+  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
+
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="-0.11565 0.496 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}main_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name='${station_name}${device_name}main_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <link name='${station_name}${device_name}first_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}second_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <link name='${station_name}${device_name}third_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}fourth_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name='${station_name}${device_name}first_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}first_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 -1 0"/>
+      <limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}second_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}first_link"/>
+      <child link="${station_name}${device_name}second_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}third_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}second_link"/>
+      <child link="${station_name}${device_name}third_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}second_link"/>
+      <child link="${station_name}${device_name}fourth_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+
+    <link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
+    </joint>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
+    </joint>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
+    </joint>
+
+
+    <link name='${station_name}${device_name}socketTypeHEPAModule'/>
+    <joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeHEPAModule"/>
+      <origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
+    </joint>
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json

@@ -0,0 +1,10 @@
+{
+    "private_param":
+    {
+
+    },
+    "public_param": 
+    {
+
+    }
+}

unilabos/device_mesh/devices/slide_w140/joint_config.json

@@ -0,0 +1,6 @@
+{
+    "slider_joint": {
+        "child":"slider",
+        "axis" : "x"
+    }
+}

unilabos/device_mesh/devices/slide_w140/macro_device.xacro

@@ -0,0 +1,136 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from slide.urdf                     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
+
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="${-min_d}  0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}base_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}base_link">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.00073944 -0.070732 0.035966"/>
+        <mass value="0.88697"/>
+        <inertia ixx="0.0019162" ixy="-2.5282E-11" ixz="6.1083E-07" iyy="0.00066605" iyz="1.4627E-08" izz="0.0019573"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/base_link.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/base_link.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${station_name}${device_name}slider">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -4.7184E-16 0.0095496"/>
+        <mass value="0.27913"/>
+        <inertia ixx="0.00048249" ixy="2.0866E-19" ixz="2.788E-21" iyy="0.00047014" iyz="1.1542E-17" izz="0.0009242"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slider.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slider.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}slider_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="${min_d + slider_d/2} 0 0.0475"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}slider"/>
+      <axis xyz="1 0 0"/>
+      <limit effort="100" lower="0" upper="${length}" velocity="1"/>
+    </joint>
+    <link name="${station_name}${device_name}length">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.005 -9.3044E-10 0.02803"/>
+        <mass value="0.050532"/>
+        <inertia ixx="8.098E-05" ixy="-1.2574E-19" ixz="3.1207E-20" iyy="4.4152E-06" iyz="-3.1294E-13" izz="7.7407E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}length_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}length"/>
+    </joint>
+    <link name="${station_name}${device_name}slide_end">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.003 8.6044E-06 0.035593"/>
+        <mass value="0.055452"/>
+        <inertia ixx="9.9729E-05" ixy="-1.0228E-21" ixz="3.8344E-22" iyy="2.3158E-05" iyz="1.5613E-08" izz="7.6904E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slide_end.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slide_end.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}slide_end_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="${length + max_d +min_d + slider_d} 0 0"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}slide_end"/>
+    </joint>
+
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/slide_w140/param_config.json

@@ -0,0 +1,12 @@
+{
+    "private_param":
+    {
+        "min_d": 0.1 ,
+        "max_d": 0.1 ,
+        "slider_d": 0.14 
+    },
+    "public_param": 
+    {
+        "length" :0.1
+    }
+}

unilabos/device_mesh/resource_visalization.py

@@ -0,0 +1,174 @@
+import os
+from pathlib import Path
+from launch import LaunchService
+from launch import LaunchDescription
+from launch_ros.actions import Node as nd
+import xacro
+from lxml import etree
+
+from unilabos.registry.registry import lab_registry
+
+
+class ResourceVisualization:
+    def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
+        """初始化资源可视化类
+        
+        该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息,
+        从注册表中获取对应的3D模型文件,并使用ROS2和RViz进行可视化。
+        
+        Args:
+            device (dict): 设备配置字典,包含设备的类型、位置等信息
+            resource (dict): 资源配置字典,包含资源的类型、位置等信息 
+            registry (dict): 注册表字典,包含设备和资源类型的注册信息
+            enable_rviz (bool, optional): 是否启用RViz可视化. Defaults to True.
+        """
+        self.launch_service = LaunchService()
+        self.launch_description = LaunchDescription()
+        self.resource_dict = resource
+        self.resource_model = {}
+        self.resource_type = ['deck', 'plate', 'container']
+        self.mesh_path = Path(__file__).parent.absolute()
+        self.enable_rviz = enable_rviz
+        registry = lab_registry
+
+        self.srdf_str = '''
+        <?xml version="1.0" encoding="UTF-8"?>
+        <robot name="minimal">
+
+        </robot>
+        '''
+        self.robot_state_str= '''<?xml version="1.0" ?>
+        <robot xmlns:xacro="http://ros.org/wiki/xacro" name="full_dev">
+        <link name="world"/>
+        </robot>
+        '''
+        self.root = etree.fromstring(self.robot_state_str)
+                
+        xacro_uri = self.root.nsmap["xacro"]
+
+        # 遍历设备节点
+        for node in device.values():
+            if node['type'] == 'device' and node['class'] != '':
+                device_class = node['class']
+                # 检查设备类型是否在注册表中
+                if device_class not in registry.device_type_registry.keys():
+                    raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
+            elif node['type'] in self.resource_type:
+                # print(registry.resource_type_registry)
+                resource_class = node['class']
+                if resource_class not in registry.resource_type_registry.keys():
+                    raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
+                elif "model" in registry.resource_type_registry[resource_class].keys():
+                    model_config = registry.resource_type_registry[resource_class]['model']
+                    if model_config['type'] == 'resource':
+                        self.resource_model[node['id']] = {
+                            'mesh': f"{str(self.mesh_path)}/resources/{model_config['mesh']}",
+                            'mesh_tf': model_config['mesh_tf']}
+                        if 'children_mesh' in model_config:
+                            if model_config['children_mesh'] is not None:
+                                self.resource_model[f"{node['id']}_"] = {
+                                    'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}",
+                                    'mesh_tf': model_config['children_mesh_tf']
+                                }
+                    elif model_config['type'] == 'device':
+                        new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
+                        new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
+                        new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
+                        new_dev.set("parent_link", "world")
+                        new_dev.set("mesh_path", str(self.mesh_path))
+                        new_dev.set("device_name", node["id"]+"_")
+                        new_dev.set("station_name", node["parent"]+'_')
+                        new_dev.set("x",str(float(node["position"]["x"])/1000))
+                        new_dev.set("y",str(float(node["position"]["y"])/1000))
+                        new_dev.set("z",str(float(node["position"]["z"])/1000))
+                        if "rotation" in node["config"]:
+                            new_dev.set("r",str(float(node["config"]["rotation"]["z"])/1000))
+                    else:
+                        print("错误的注册表类型！")
+        re = etree.tostring(self.root, encoding="unicode")
+        doc = xacro.parse(re)
+        xacro.process_doc(doc)
+        self.urdf_str = doc.toxml()
+
+
+    def create_launch_description(self, urdf_str: str) -> LaunchDescription:
+        """
+        创建launch描述，包含robot_state_publisher和move_group节点
+
+        Args:
+            urdf_str: URDF文本
+
+        Returns:
+            LaunchDescription: launch描述对象
+        """
+
+        
+        # 解析URDF文件
+        robot_description = urdf_str
+
+        # 创建robot_state_publisher节点
+        robot_state_publisher = nd(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'use_sim_time': False
+            }]
+        )
+
+        # joint_state_publisher_node = nd(
+        #     package='joint_state_publisher_gui',  # 或 joint_state_publisher
+        #     executable='joint_state_publisher_gui',
+        #     name='joint_state_publisher',
+        #     output='screen'
+        # )
+        # 创建move_group节点
+        move_group = nd(
+            package='moveit_ros_move_group',
+            executable='move_group',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'robot_description_semantic': self.srdf_str,
+                'capabilities': '',
+                'disable_capabilities': '',
+                'monitor_dynamics': False,
+                'publish_monitored_planning_scene': True,
+                'publish_robot_description_semantic': True,
+                'publish_planning_scene': True,
+                'publish_geometry_updates': True,
+                'publish_state_updates': True,
+                'publish_transforms_updates': True,
+            }]
+        )
+
+        # 将节点添加到launch描述中
+        self.launch_description.add_action(robot_state_publisher)
+        # self.launch_description.add_action(joint_state_publisher_node)
+        self.launch_description.add_action(move_group)
+
+        # 如果启用RViz,添加RViz节点
+        if self.enable_rviz:
+            rviz_node = nd(
+                package='rviz2',
+                executable='rviz2',
+                name='rviz2',
+                arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
+                output='screen'
+            )
+            self.launch_description.add_action(rviz_node)
+
+        return self.launch_description
+
+    def start(self) -> None:
+        """
+        启动可视化服务
+
+        Args:
+            urdf_str: URDF文件路径
+        """
+        launch_description = self.create_launch_description(self.urdf_str)
+        self.launch_service.include_launch_description(launch_description)
+        self.launch_service.run()

unilabos/device_mesh/resources/generic_labware_tube_10_75/meta.json

@@ -0,0 +1,22 @@
+{
+    "fileName": "generic_labware_tube_10_75",
+    "related": [
+        "generic_labware_0.5ml_screw_cap_tube",
+        "generic_labware_0.5ml_tube_rack",
+        "generic_labware_12_well_plate",
+        "sarstedt_14x200mm_tube",
+        "sarstedt_18x200mm_tube",
+        "generic_labware_1ml_tube_rack",
+        "generic_labware_24_well_plate",
+        "generic_labware_2ml_screw_cap_tube",
+        "generic_labware_5ml_screw_cap_tube",
+        "generic_labware_6_well_plate",
+        "generic_labware_96_well_square",
+        "generic_labware_96_well_pcr_plate_round",
+        "generic_labware_framedtiprack",
+        "generic_labware_plate_lid",
+        "generic_labware_reservoir",
+        "generic_labware_tip_box",
+        "generic_labware_tube_10_75"
+    ]
+}

unilabos/device_mesh/resources/generic_labware_tube_10_75/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="generic_labware_tube_10_75">
+    <link name='0_base_link'>
+        <visual name='visual'>
+            <geometry>
+                <mesh filename="meshes/0_base.stl"/>
+            </geometry>
+            <material name="clay" />
+        </visual>
+    </link>
+</robot>

unilabos/device_mesh/resources/tecan_nested_tip_rack/meta.json

@@ -0,0 +1,86 @@
+{
+    "fileName": "tecan_nested_tip_rack",
+    "related": [
+        "tecan_techrom",
+        "tecan_holder_transfer_tool",
+        "tecan_fluent_9_grid_segment_cutout",
+        "tecan_fluent_centric_gripper",
+        "tecan_fluent_eccentric_gripper",
+        "tecan_evo100",
+        "tecan_fluent_mp_diti_nest_segment",
+        "tecan_fluent_4x100_trough",
+        "tecan_fluent_1080_extended",
+        "tecan_fluent_1_1_1000_trough",
+        "tecan_fluent_50ml_tube_runner_10_v2",
+        "tecan_fluent_15ml_tube_runner_16_v2",
+        "tecan_fluent_1_16_16_tube_runner",
+        "tecan_fluent_1.5ml_tube_runner_v2",
+        "tecan_fluent_1_24_10_tube_runner",
+        "tecan_fluent_1_24_13_tube_runner",
+        "tecan_fluent_3x320_reagent_trough_v2",
+        "tecan_fluent_32_tube_runner_v2",
+        "tecan_fluent_1_4_100_trough",
+        "tecan_fluent_2_grid_segment",
+        "tecan_fluent_2_4_100_trough_waste",
+        "tecan_fluent_3_grid_segment",
+        "tecan_fluent_nest_waste_segment_v2",
+        "tecan_fluent_320ml_reagent_trough",
+        "tecan_fluent_4_landscape_61mm_nest_segment",
+        "tecan_fluent_4_landscape_61mm_nest_segment_waste",
+        "tecan_fluent_4_landscape_7mm_nest_segment",
+        "tecan_fluent_4_landscape_7mm_nest_segment_waste",
+        "tecan_fluent_hotel_deck_4",
+        "tecan_fluent_480_extended",
+        "tecan_fluent_4x100_reagent_trough_v2",
+        "tecan_fluent_5_landscape_61mm_nest_segment",
+        "tecan_fluent_5_landscape_7mm_nest_segment",
+        "tecan_fluent_hotel_deck_5",
+        "tecan_fluent_6_grid_segment",
+        "tecan_fluent_nest_landscape_segment_v2",
+        "tecan_fluent_6_landscape_7mm_nest_segment",
+        "tecan_fluent_deck_segment_6_v2",
+        "tecan_fluent_fca_diti_segment_v2",
+        "tecan_fluent_6_nest_incubator",
+        "tecan_fluent_plate_nest",
+        "tecan_fluent_780_extended",
+        "tecan_fluent_plate_holder",
+        "tecan_fluent_8_grid_segment",
+        "tecan_fluent_8_grid_segment_evo",
+        "tecan_fluent_hotel_deck_9",
+        "tecan_carousel",
+        "tecan_carousel_stacker_10",
+        "tecan_carousel_stacker_25",
+        "tecan_carousel_stacker_6",
+        "tecan_fluent_coolheat_microplate_segment_v2",
+        "tecan_fluent_fca_diti_tray",
+        "tecan_fluent_trough_waste",
+        "tecan_fluent_id_left",
+        "tecan_fluent_id_middle",
+        "tecan_fluent_lower_6_grid_v2",
+        "tecan_fluent_mc384_nest",
+        "tecan_fluent_mca_44mm_nest",
+        "tecan_fluent_deck_segment_4_v2",
+        "tecan_fluent_mca_base_segment_384_v2",
+        "tecan_fluent_waste_module",
+        "tecan_fluent_reagent_block",
+        "tecan_fluent_tube_grippers",
+        "tecan_fluent_washstation_waste_v2",
+        "tecan_carrier_additive_trough_3_pce_max_100ml",
+        "tecan_carrier_384_well_mp_3_pos_accessible_roma",
+        "tecan_carrier_rack_3_diti_width_6",
+        "tecan_transport_box_diti_tray_1000ul",
+        "tecan_transport_box_diti_tray_200ul",
+        "tecan_magicprep_ngs_sample_deck",
+        "tecan_fluent_shelf_large",
+        "tecan_fluent_shelf_small",
+        "tecan_spacer_29_9_te_chrom",
+        "tecan_teshake_adapter_2",
+        "tecan_teshake_base",
+        "tecan_tevacs_base",
+        "tecan_tevacs_plate_park",
+        "tecan_tevacs_spacer",
+        "tecan_tevacs_vacuum",
+        "tecan_tip_box",
+        "tecan_nested_tip_rack"
+    ]
+}

unilabos/device_mesh/resources/tecan_nested_tip_rack/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tecan_nested_tip_rack">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/plate.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/view_robot.rviz

@@ -0,0 +1,387 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1
+        - /TF1/Tree1
+        - /RobotModel1
+        - /PlanningScene1
+        - /PlanningScene1/Scene Geometry1
+        - /RobotState1
+        - /RobotState1/Links1
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Geometry1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+      Splitter Ratio: 0.5
+    Tree Height: 345
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: moveit_rviz_plugin/PlanningScene
+      Enabled: false
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: false
+      Value: false
+    - Attached Body Color: 150; 50; 150
+      Class: moveit_rviz_plugin/RobotState
+      Collision Enabled: false
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: RobotState
+      Robot Alpha: 1
+      Robot Description: robot_description
+      Robot State Topic: display_robot_state
+      Show All Links: true
+      Show Highlights: true
+      Value: false
+      Visual Enabled: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          PLR_STATION_deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_first_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_fourth_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_main_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_second_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_third_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 3x
+        Trail Step Size: 1
+        Trajectory Topic: /display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: ""
+        Query Goal State: false
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          PLR_STATION_deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_first_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_fourth_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_main_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_second_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_third_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.0284695625305176
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.29730814695358276
+        Y: 0.21228469908237457
+        Z: 0.20008830726146698
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.38979560136795044
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.06074193865060806
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1656
+  Hide Left Dock: false
+  Hide Right Dock: true
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2518
+  X: 385
+  Y: 120

unilabos/devices/agv/ur_arm_task.py

@@ -77,9 +77,6 @@ class UrArmTask():
                 if n > retry:
                     raise Exception('Can not connect to the arm info server!')
                 
-        self.pose_data = {}
-        self.pose_file = 'C:\\auto\\unilabos\\unilabos\\devices\\agv\\pose.json'
-        self.reload_pose()
         self.dash_c.stop()
 
     def arm_init(self):

unilabos/devices/liquid_handling/action_definition.py

@@ -36,6 +36,7 @@ class DPLiquidHandler(LiquidHandler):
         delays: Optional[List[int]] = None,
         is_96_well: Optional[bool] = False,
         top: Optional[List(float)] = None,
+        none_keys: List[str] = []
     ):
         """A complete *remove* (aspirate → waste) operation."""
         trash = self.deck.get_trash_area()
@@ -98,7 +99,8 @@ class DPLiquidHandler(LiquidHandler):
         mix_time: Optional[int] = None,
         mix_vol: Optional[int] = None,
         mix_rate: Optional[int] = None,
-        mix_liquid_height: Optional[float] = None
+        mix_liquid_height: Optional[float] = None,
+        none_keys: List[str] = []
     ):
         """A complete *add* (aspirate reagent → dispense into targets) operation."""
 
@@ -177,6 +179,7 @@ class DPLiquidHandler(LiquidHandler):
         mix_rate: Optional[int] = None,
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
+        none_keys: List[str] = []
     ):
         """Transfer liquid from each *source* well/plate to the corresponding *target*.
 
@@ -295,6 +298,7 @@ class DPLiquidHandler(LiquidHandler):
         height_to_bottom: Optional[float] = None,
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
+        none_keys: List[str] = []
     ):
         if mix_time is None: # No mixing required
             return

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -0,0 +1,208 @@
+import copy
+import rclpy
+import json
+import time
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.action import ActionServer
+from sensor_msgs.msg import JointState
+from unilabos_msgs.action import SendCmd
+from rclpy.action.server import ServerGoalHandle
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from tf_transformations import quaternion_from_euler
+from tf2_ros import TransformBroadcaster, Buffer, TransformListener 
+
+
+class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
+    def __init__(self,device_id:str, joint_config:dict, lh_id:str,resource_tracker, rate=50):
+        super().__init__(
+            driver_instance=self,
+            device_id=device_id,
+            status_types={},
+            action_value_mappings={},
+            hardware_interface={},
+            print_publish=False,
+            resource_tracker=resource_tracker,  
+        )  
+
+        # joint_config_dict = {
+        #     "joint_names":[
+        #         "first_joint",
+        #         "second_joint",
+        #         "third_joint",
+        #         "fourth_joint"
+        #     ],
+        #     "y":{
+        #         "first_joint":{
+        #         "factor":-1,
+        #         "offset":0.0
+        #         }
+        #     },
+        #     "x":{
+        #         "second_joint":{
+        #         "factor":-1,
+        #         "offset":0.0
+        #         }
+        #     },
+        #     "z":{
+        #         "third_joint":{
+        #         "factor":1,
+        #         "offset":0.0
+        #         },
+        #         "fourth_joint":{
+        #         "factor":1,
+        #         "offset":0.0
+        #         }
+        #     }
+        # }
+
+        self.j_msg          = JointState()
+        self.lh_id          = lh_id
+        # self.j_msg.name     = joint_names
+        self.joint_config   = joint_config
+        self.j_msg.position = [0.0 for i in range(len(joint_config['joint_names']))]
+        self.j_msg.name     = [f"{self.lh_id}_{x}" for x in joint_config['joint_names']]
+        # self.joint_config   = joint_config_dict
+        # self.j_msg.position = [0.0 for i in range(len(joint_config_dict['joint_names']))]
+        # self.j_msg.name     = [f"{self.lh_id}_{x}" for x in joint_config_dict['joint_names']]
+        self.rate           = rate
+        self.tf_buffer      = Buffer()
+        self.tf_listener    = TransformListener(self.tf_buffer, self)
+        self.j_pub          = self.create_publisher(JointState,'/joint_states',10)
+        self.create_timer(0.02,self.lh_joint_pub_callback)
+        self.j_action       = ActionServer(
+            self,
+            SendCmd,
+            "joint",
+            self.lh_joint_action_callback,
+            result_timeout=5000
+        )
+
+    def lh_joint_action_callback(self,goal_handle: ServerGoalHandle):
+        """Move a single joint
+
+        Args:
+            command: A JSON-formatted string that includes joint_name, speed, position
+
+                    joint_name (str): The name of the joint to move
+                    speed (float): The speed of the movement, speed > 0
+                    position (float): The position to move to
+
+        Returns:
+            None
+        """
+        result = SendCmd.Result()
+        cmd_str = str(goal_handle.request.command).replace('\'','\"')
+        # goal_handle.execute()
+
+        try:
+            cmd_dict = json.loads(cmd_str)
+            self.move_joints(**cmd_dict)
+            result.success = True
+            goal_handle.succeed()
+            
+        except Exception as e:
+            print(e)
+            goal_handle.abort()
+            result.success = False
+
+        return result
+    def inverse_kinematics(self, x, y, z, 
+                           x_joint:dict, 
+                           y_joint:dict, 
+                           z_joint:dict   ):
+        """
+        将x、y、z坐标转换为对应关节的位置
+        
+        Args:
+            x (float): x坐标
+            y (float): y坐标
+            z (float): z坐标
+            x_joint (dict): x轴关节配置，包含plus和offset
+            y_joint (dict): y轴关节配置，包含plus和offset
+            z_joint (dict): z轴关节配置，包含plus和offset
+            
+        Returns:
+            dict: 关节名称和对应位置的字典
+        """
+        joint_positions = copy.deepcopy(self.j_msg.position)
+        
+        # 处理x轴关节
+        for joint_name, config in x_joint.items():
+            index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
+            joint_positions[index] = x * config["factor"] + config["offset"]
+            
+        # 处理y轴关节
+        for joint_name, config in y_joint.items():
+            index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
+            joint_positions[index] = y * config["factor"] + config["offset"]
+            
+        # 处理z轴关节
+        for joint_name, config in z_joint.items():
+            index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
+            joint_positions[index] = z * config["factor"] + config["offset"]
+            
+        
+        return joint_positions
+
+
+    def move_joints(self, resource_name, link_name, speed, x_joint=None, y_joint=None, z_joint=None):
+        
+        transform = self.tf_buffer.lookup_transform(
+                    link_name,
+                    resource_name,
+                    rclpy.time.Time()
+                )
+        x,y,z = transform.transform.translation.x, transform.transform.translation.y, transform.transform.translation.z
+        if x_joint is None:
+            x_joint_config = next(iter(self.joint_config['x'].items()))
+        elif x_joint in self.joint_config['x']:
+            x_joint_config = self.joint_config['x'][x_joint]
+        else:
+            raise ValueError(f"x_joint {x_joint} not in joint_config['x']")
+        if y_joint is None:
+            y_joint_config = next(iter(self.joint_config['y'].items()))
+        elif y_joint in self.joint_config['y']:
+            y_joint_config = self.joint_config['y'][y_joint]
+        else:
+            raise ValueError(f"y_joint {y_joint} not in joint_config['y']")
+        if z_joint is None:
+            z_joint_config = next(iter(self.joint_config['z'].items()))
+        elif z_joint in self.joint_config['z']:
+            z_joint_config = self.joint_config['z'][z_joint]
+        else:
+            raise ValueError(f"z_joint {z_joint} not in joint_config['z']")
+        joint_positions_target = self.inverse_kinematics(x,y,z,x_joint_config,y_joint_config,z_joint_config)
+
+        loop_flag = 0
+
+
+        while loop_flag < len(self.joint_config['joint_names']):
+            loop_flag = 0
+            for i in range(len(self.joint_config['joint_names'])):
+                distance = joint_positions_target[i] - self.j_msg.position[i]
+                if distance == 0:
+                    loop_flag += 1
+                    continue
+                minus_flag = distance/abs(distance)
+                if abs(distance) > speed/self.rate:
+                    self.j_msg.position[i] += minus_flag * speed/self.rate
+                else :
+                    self.j_msg.position[i] = joint_positions_target[i]
+                    loop_flag += 1
+                    
+
+            # 发布关节状态
+            self.lh_joint_pub_callback()
+            time.sleep(1/self.rate)
+
+
+    def lh_joint_pub_callback(self):
+        self.j_msg.header.stamp = self.get_clock().now().to_msg()
+        self.j_pub.publish(self.j_msg)
+
+def main():
+
+    pass
+
+if __name__ == '__main__':
+    main()

unilabos/registry/devices/liquid_handler.yaml

@@ -163,13 +163,134 @@ liquid_handler:
   schema:
     type: object
     properties:
-      status:
+      name:
         type: string
         description: 液体处理仪器当前状态
     required:
-      - status
+    - name
     additionalProperties: false
 
+dp_liquid_handler:
+  description: 通用液体处理
+  class:
+    module: unilabos.devices.liquid_handling.action_definition:DPLiquidHandler
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      remove_liquid:
+        type: DPLiquidHandlerRemoveLiquid
+        goal:
+          vols: vols
+          sources: sources
+          waste_liquid: waste_liquid
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          delays: delays
+          is_96_well: is_96_well
+          top: top
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      add_liquid:
+        type: DPLiquidHandlerAddLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_time: mix_time
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      transfer_liquid:
+        type: DPLiquidHandlerTransferLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      custom_delay:
+        type: DPLiquidHandlerCustomDelay
+        goal:
+          seconds: seconds
+          msg: msg
+        feedback: {}
+        result: {}
+      touch_tip:
+        type: DPLiquidHandlerTouchTip
+        goal:
+          targets: targets
+        feedback: {}
+        result: {}
+      mix:
+        type: DPLiquidHandlerMix
+        goal:
+          targets: targets
+          mix_time: mix_time
+          mix_vol: mix_vol
+          height_to_bottom: height_to_bottom
+          offsets: offsets
+          mix_rate: mix_rate
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      set_tiprack:
+        type: DPLiquidHandlerSetTiprack
+        goal:
+          tip_racks: tip_racks
+        feedback: {}
+        result: {}
+      move_to:
+        type: DPLiquidHandlerMoveTo
+        goal:
+          well: well
+          dis_to_top: dis_to_top
+          channel: channel
+        feedback: {}
+        result: {}
+  schema:
+    type: object
+    properties:
+      name:
+        type: string
+        description: 物料名
+    required:
+    - name
+
 liquid_handler.revvity:
   class:
     module: unilabos.devices.liquid_handling.revvity:Revvity
@@ -179,7 +300,7 @@ liquid_handler.revvity:
     action_value_mappings:
       run:
         type: WorkStationRun
-        goal: 
+        goal:
           wf_name: file_path
           params: params
           resource: resource
@@ -187,4 +308,3 @@ liquid_handler.revvity:
           status: status
         result:
           success: success
-    

unilabos/registry/devices/robot_gripper.yaml

@@ -20,7 +20,6 @@ gripper.mock:
           position: position
           effort: torque
 
-
 gripper.misumi_rz:
   description: Misumi RZ gripper
   class:
@@ -35,4 +34,4 @@ gripper.misumi_rz:
           command: command
         feedback: {}
         result:
-          success: success
+          success: success

unilabos/registry/devices/sim_nodes.yaml

@@ -0,0 +1,5 @@
+lh_joint_publisher:
+  class:
+    module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
+    type: ros2
+

unilabos/registry/devices/zhida_hplc.yaml

@@ -7,7 +7,7 @@ zhida_hplc:
       status: String
     action_value_mappings:
       start:
-        type: StringSingleInput
+        type: StrSingleInput
         goal:
           string: string
         feedback: {}

unilabos/registry/registry.py

@@ -1,3 +1,4 @@
+import io
 import json
 import os
 import sys
@@ -20,7 +21,43 @@ class Registry:
         self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
         if registry_paths:
             self.registry_paths.extend(registry_paths)
-        self.device_type_registry = {}
+        action_type = self._replace_type_with_class(
+            "ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
+        )
+        schema = ros_action_to_json_schema(action_type)
+        self.device_type_registry = {
+            "host_node": {
+                "description": "UniLabOS主机节点",
+                "class": {
+                    "module": "unilabos.ros.nodes.presets.host_node",
+                    "type": "python",
+                    "status_types": {},
+                    "action_value_mappings": {
+                        "add_resource_from_outer": {
+                            "type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
+                            "goal": {
+                                "resources": "resources",
+                                "device_ids": "device_ids",
+                                "bind_parent_ids": "bind_parent_ids",
+                                "bind_locations": "bind_locations",
+                                "other_calling_params": "other_calling_params",
+                            },
+                            "feedback": {},
+                            "result": {
+                                "success": "success"
+                            },
+                            "schema": schema
+                        }
+                    }
+                },
+                "schema": {
+                    "properties": {},
+                    "additionalProperties": False,
+                    "type": "object"
+                },
+                "file_path": "/"
+            }
+        }
         self.resource_type_registry = {}
         self._setup_called = False  # 跟踪setup是否已调用
         # 其他状态变量
@@ -107,6 +144,7 @@ class Registry:
             + f"total: {len(files)}"
         )
         current_device_number = len(self.device_type_registry) + 1
+        from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
         for i, file in enumerate(files):
             data = yaml.safe_load(open(file, encoding="utf-8"))
             if data:
@@ -131,6 +169,7 @@ class Registry:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
+                                    action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
                                     action_config["schema"] = ros_action_to_json_schema(action_config["type"])
 
                 self.device_type_registry.update(data)

unilabos/registry/resources/opentrons/deck.yaml

@@ -2,4 +2,7 @@ OTDeck:
   description: Opentrons deck
   class: 
     module: pylabrobot.resources.opentrons.deck:OTDeck
-    type: pylabrobot
+    type: pylabrobot
+  model:
+    type: device
+    mesh: opentrons_liquid_handler

unilabos/registry/resources/opentrons/plates.yaml

@@ -39,6 +39,10 @@ nest_96_wellplate_2ml_deep:
   class: 
     module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_2ml_deep
     type: pylabrobot
+  model: 
+    type: resource
+    mesh: tecan_nested_tip_rack/meshes/plate.stl
+    mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]
 
 nest_96_wellplate_200ul_flat:
   description: Nest 96 wellplate 200ul flat
@@ -51,6 +55,12 @@ nest_96_wellplate_100ul_pcr_full_skirt:
   class: 
     module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_100ul_pcr_full_skirt
     type: pylabrobot
+  model: 
+    type: resource
+    mesh: tecan_nested_tip_rack/meshes/plate.stl
+    mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]
+    children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
+    children_mesh_tf: [0.0018, 0.0018, 0, -1.5708,0, 0]
 
 appliedbiosystemsmicroamp_384_wellplate_40ul:
   description: Applied Biosystems microamp 384 wellplate 40ul

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -63,7 +63,13 @@ opentrons_96_filtertiprack_1000ul:
   class: 
     module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_1000ul
     type: pylabrobot
-
+  model: 
+    type: resource
+    mesh: tecan_nested_tip_rack/meshes/plate.stl
+    mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]
+    children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
+    children_mesh_tf: [0.0018, 0.0018, 0, -1.5708,0, 0]
+    
 opentrons_96_filtertiprack_20ul:
   description: Opentrons 96 filtertiprack 20ul
   class: 

unilabos/resources/graphio.py

@@ -394,14 +394,14 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
     return resource_plr
 
 
-def resource_plr_to_ulab(resource_plr: "ResourcePLR"):
+def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
     def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict:
         r = {
             "id": d["name"],
             "name": d["name"],
             "sample_id": None,
             "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]],
-            "parent": d["parent_name"] if d["parent_name"] else None,
+            "parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None,
             "type": "device",  # FIXME plr自带的type是python class name
             "class": d.get("class", ""),
             "position": (
@@ -417,6 +417,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR"):
     d = resource_plr.serialize()
     all_states = resource_plr.serialize_all_state()
     r = resource_plr_to_ulab_inner(d, all_states)
+
     return r
 
 
@@ -451,7 +452,8 @@ def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]
 
         if resource_class_config["type"] == "pylabrobot":
             resource_plr = RESOURCE(name=resource_config["name"])
-            r = resource_plr_to_ulab(resource_plr=resource_plr)
+            r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
+            # r = resource_plr_to_ulab(resource_plr=resource_plr)
             if resource_config.get("position") is not None:
                 r["position"] = resource_config["position"]
             r = tree_to_list([r])
@@ -475,8 +477,10 @@ def initialize_resources(resources_config) -> list[dict]:
     """
 
     from unilabos.registry.registry import lab_registry
-
     resources = []
     for resource_config in resources_config:
+        if resource_config["parent"] == "tip_rack" or resource_config["parent"] == "plate_well":
+            continue
         resources.extend(initialize_resource(resource_config, lab_registry))
+
     return resources

unilabos/resources/registry.py

@@ -1,5 +1,5 @@
-import sys
+import traceback
-
+from unilabos.utils.log import logger
 
 resource_schema = {
     "workstation": {"type": "object", "properties": {}},
@@ -132,7 +132,8 @@ def add_schema(resources_config: list[dict]) -> list[dict]:
             try:
                 if type(resource["children"][0]) == dict:
                     resource["children"] = add_schema(resource["children"])
-            except:
+            except Exception as ex:
-                sys.exit(0)
+                logger.error("添加物料schema时出错")
+                traceback.print_exc()
 
     return resources_config

unilabos/ros/device_node_wrapper.py

@@ -18,6 +18,7 @@ class ROS2DeviceNodeWrapper(ROS2DeviceNode):
 
 def ros2_device_node(
     cls: Type[T],
+    device_config: Optional[Dict[str, Any]] = None,
     status_types: Optional[Dict[str, Any]] = None,
     action_value_mappings: Optional[Dict[str, Any]] = None,
     hardware_interface: Optional[Dict[str, Any]] = None,
@@ -30,6 +31,7 @@ def ros2_device_node(
         cls: 要封装的设备类
         status_types: 需要发布的状态和传感器信息，每个(PROP: TYPE)，PROP应该匹配cls.PROP或cls.get_PROP()，
             TYPE应该是ROS2消息类型。默认为{}。
+        device_config: 初始化时的config。
         action_value_mappings: 设备动作。默认为{}。
             每个(ACTION: {'type': CMD_TYPE, 'goal': {FIELD: PROP}, 'feedback': {FIELD: PROP}, 'result': {FIELD: PROP}}),
         hardware_interface: 硬件接口配置。默认为{"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []}。
@@ -42,6 +44,8 @@ def ros2_device_node(
     # 从属性中自动发现可发布状态
     if status_types is None:
         status_types = {}
+    if device_config is None:
+        device_config = {}
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:
@@ -73,6 +77,7 @@ def ros2_device_node(
             "__init__": lambda self, *args, **kwargs: init_wrapper(
                 self,
                 driver_class=cls,
+                device_config=device_config,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,

unilabos/ros/initialize_device.py

@@ -1,9 +1,9 @@
-import rclpy
+import copy
-from rclpy.node import Node
 from typing import Optional
+
 from unilabos.registry.registry import lab_registry
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
 from unilabos.ros.device_node_wrapper import ros2_device_node
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
 from unilabos.utils import logger
 from unilabos.utils.import_manager import default_manager
 
@@ -22,17 +22,21 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         None
     """
     d = None
+    original_device_config = copy.deepcopy(device_config)
     device_class_config = device_config["class"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
         if device_class_config not in lab_registry.device_type_registry:
             raise ValueError(f"Device class {device_class_config} not found.")
         device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
+    else:
+        raise ValueError("不再支持class为字典传入，class必须为注册表中已经提供的设备，您可以新增注册表并通过--registry传入")
     if isinstance(device_class_config, dict):
         DEVICE = default_manager.get_class(device_class_config["module"])
         # 不管是ros2的实例，还是python的，都必须包一次，除了HostNode
         DEVICE = ros2_device_node(
             DEVICE,
             status_types=device_class_config.get("status_types", {}),
+            device_config=original_device_config,
             action_value_mappings=device_class_config.get("action_value_mappings", {}),
             hardware_interface=device_class_config.get(
                 "hardware_interface",

unilabos/ros/main_slave_run.py

@@ -2,9 +2,13 @@ import copy
 import json
 import os
 import threading
+import time
 from typing import Optional, Dict, Any, List
 
 import rclpy
+from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
+from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import ResourceAdd, SerialCommand  # type: ignore
 from rclpy.executors import MultiThreadedExecutor
@@ -40,17 +44,19 @@ def exit() -> None:
 
 def main(
     devices_config: Dict[str, Any] = {},
-    resources_config={},
+    resources_config: list=[],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
-    args: List[str] = ["--log-level", "debug"],
+    visual: str = "disable",
+    resources_mesh_config: dict = {},
+    rclpy_init_args: List[str] = ["--log-level", "debug"],
     discovery_interval: float = 5.0,
 ) -> None:
     """主函数"""
-    rclpy.init(args=args)
-    rclpy.__executor = executor = MultiThreadedExecutor()
 
+    rclpy.init(args=rclpy_init_args)
+    executor = rclpy.__executor = MultiThreadedExecutor()
     # 创建主机节点
     host_node = HostNode(
         "host_node",
@@ -62,11 +68,26 @@ def main(
         discovery_interval,
     )
 
+    if visual != "disable":
+        resource_mesh_manager = ResourceMeshManager(
+            resources_mesh_config,
+            resources_config,
+            resource_tracker= DeviceNodeResourceTracker(),
+            device_id = 'resource_mesh_manager',
+        )
+        joint_republisher = JointRepublisher(
+            'joint_republisher',
+            DeviceNodeResourceTracker()
+        )
+
+        executor.add_node(resource_mesh_manager)
+        executor.add_node(joint_republisher)
+
     thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
     thread.start()
 
     while True:
-        input()
+        time.sleep(1)
 
 
 def slave(
@@ -75,11 +96,16 @@ def slave(
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
-    args: List[str] = ["--log-level", "debug"],
+    visual: str = "disable",
+    resources_mesh_config: dict = {},
+    rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
-    rclpy.init(args=args)
+    if not rclpy.ok():
-    rclpy.__executor = executor = MultiThreadedExecutor()
+        rclpy.init(args=rclpy_init_args)
+    executor = rclpy.__executor
+    if not executor:
+        executor = rclpy.__executor = MultiThreadedExecutor()
     devices_config_copy = copy.deepcopy(devices_config)
     for device_id, device_config in devices_config.items():
         d = initialize_device_from_dict(device_id, device_config)
@@ -94,6 +120,21 @@ def slave(
     n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
     executor.add_node(n)
 
+    if visual != "disable":
+        resource_mesh_manager = ResourceMeshManager(
+            resources_mesh_config,
+            resources_config,
+            resource_tracker= DeviceNodeResourceTracker(),
+            device_id = 'resource_mesh_manager',
+        )
+        joint_republisher = JointRepublisher(
+            'joint_republisher',
+            DeviceNodeResourceTracker()
+        )
+
+        executor.add_node(resource_mesh_manager)
+        executor.add_node(joint_republisher)
+        
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
     thread.start()
 
@@ -112,7 +153,7 @@ def slave(
         logger.info(f"Slave node info updated.")
 
         rclient = n.create_client(ResourceAdd, "/resources/add")
-        rclient.wait_for_service()  # FIXME 可能一直等待，加一个参数
+        rclient.wait_for_service()
 
         request = ResourceAdd.Request()
         request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
@@ -120,7 +161,7 @@ def slave(
         logger.info(f"Slave resource added.")
 
     while True:
-        input()
+        time.sleep(1)
 
 if __name__ == "__main__":
     main()

unilabos/ros/msgs/message_converter.py

@@ -133,15 +133,15 @@ _msg_converter: Dict[Type, Any] = {
     String: lambda x: String(data=str(x)),
     Point: lambda x: Point(x=x.x, y=x.y, z=x.z),
     Resource: lambda x: Resource(
-        id=x["id"],
+        id=x.get("id", ""),
-        name=x["name"],
+        name=x.get("name", ""),
         sample_id=x.get("sample_id", "") or "",
         children=list(x.get("children", [])),
         parent=x.get("parent", "") or "",
-        type=x["type"],
+        type=x.get("type", ""),
-        category=x.get("class", "") or x["type"],
+        category=x.get("class", "") or x.get("type", ""),
         pose=(
-            Pose(position=Point(x=float(x["position"]["x"]), y=float(x["position"]["y"]), z=float(x["position"]["z"])))
+            Pose(position=Point(x=float(x.get("position", {}).get("x", 0)), y=float(x.get("position", {}).get("y", 0)), z=float(x.get("position", {}).get("z", 0))))
             if x.get("position", None) is not None
             else Pose()
         ),
@@ -331,16 +331,27 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
     ros_msg = ros_msg_type() if isinstance(ros_msg_type, type) else ros_msg_type
 
     # 提取数据
-    data = _extract_data(obj)
+    extract_data = dict(_extract_data(obj))
 
     # 转换数据到ROS消息
-    for key, value in data.items():
+    for ind, data in enumerate(ros_msg.get_fields_and_field_types().items()):
+        key, type_name = data
+        if key not in extract_data:
+            continue
+        value = extract_data[key]
         if hasattr(ros_msg, key):
             attr = getattr(ros_msg, key)
             if isinstance(attr, (float, int, str, bool)):
                 setattr(ros_msg, key, value)
             elif isinstance(attr, (list, tuple)) and isinstance(value, Iterable):
-                setattr(ros_msg, key, list(value))
+                td = ros_msg.SLOT_TYPES[ind].value_type
+                if isinstance(td, NamespacedType):
+                    target_class = msg_converter_manager.get_class(f"{'.'.join(td.namespaces)}.{td.name}")
+                    setattr(ros_msg, key, [convert_to_ros_msg(target_class, v) for v in value])
+                else:
+                    setattr(ros_msg, key, [])  # FIXME
+            elif "array.array" in str(type(attr)):
+                setattr(ros_msg, key, value)
             else:
                 nested_ros_msg = convert_to_ros_msg(type(attr)(), value)
                 setattr(ros_msg, key, nested_ros_msg)
@@ -566,6 +577,7 @@ basic_type_map = {
     'float32': {'type': 'number'},
     'float64': {'type': 'number'},
     'string': {'type': 'string'},
+    'boolean': {'type': 'boolean'},
     'char': {'type': 'string', 'maxLength': 1},
     'byte': {'type': 'integer', 'minimum': 0, 'maximum': 255},
 }

unilabos/ros/nodes/base_device_node.py

@@ -10,13 +10,16 @@ import asyncio
 
 import rclpy
 from rclpy.node import Node
-from rclpy.action import ActionServer
+from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
 from rclpy.client import Client
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
+from unilabos_msgs.action import SendCmd
+from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
-from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
+from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
+    initialize_resources
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
@@ -101,6 +104,7 @@ def init_wrapper(
     self,
     device_id: str,
     driver_class: type[T],
+    device_config: Dict[str, Any],
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
@@ -118,6 +122,7 @@ def init_wrapper(
         children = []
     kwargs["device_id"] = device_id
     kwargs["driver_class"] = driver_class
+    kwargs["device_config"] = device_config
     kwargs["driver_params"] = driver_params
     kwargs["status_types"] = status_types
     kwargs["action_value_mappings"] = action_value_mappings
@@ -302,10 +307,77 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             res.response = ""
             return res
 
+        def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
+            # 物料传输到对应的node节点
+            rclient = self.create_client(ResourceAdd, "/resources/add")
+            rclient.wait_for_service()
+            request = ResourceAdd.Request()
+            command_json = json.loads(req.command)
+            namespace = command_json["namespace"]
+            bind_parent_id = command_json["bind_parent_id"]
+            edge_device_id = command_json["edge_device_id"]
+            location = command_json["bind_location"]
+            other_calling_param = command_json["other_calling_param"]
+            resources = command_json["resource"]
+            initialize_full = other_calling_param.pop("initialize_full", False)
+            # 本地拿到这个物料，可能需要先做初始化?
+            if isinstance(resources, list):
+                if initialize_full:
+                    resources = initialize_resources(resources)
+                request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+            else:
+                if initialize_full:
+                    resources = initialize_resources([resources])
+                request.resources = [convert_to_ros_msg(Resource, resources)]
+            response = rclient.call(request)
+            # 应该先add_resource了
+            res.response = "OK"
+            # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
+            resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
+            request.resources = [convert_to_ros_msg(Resource, resources)]
+
+            try:
+                from pylabrobot.resources.resource import Resource as ResourcePLR
+                from pylabrobot.resources.deck import Deck
+                from pylabrobot.resources import Coordinate
+                from pylabrobot.resources import OTDeck
+                contain_model = not isinstance(resource, Deck)
+                if isinstance(resource, ResourcePLR):
+                    # resources.list()
+                    plr_instance = resource_ulab_to_plr(resources, contain_model)
+                    if isinstance(resource, OTDeck) and "slot" in other_calling_param:
+                        resource.assign_child_at_slot(plr_instance, **other_calling_param)
+                    resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+                # 发送给ResourceMeshManager
+                action_client = ActionClient(
+                    self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
+                )
+                goal = SendCmd.Goal()
+                goal.command = json.dumps({
+                    "resources": resources,
+                    "bind_parent_id": bind_parent_id,
+                })
+                future = action_client.send_goal_async(goal, goal_uuid=uuid.uuid4())
+
+                def done_cb(*args):
+                    self.lab_logger().info(f"向meshmanager发送新增resource完成")
+
+                future.add_done_callback(done_cb)
+            except ImportError:
+                self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
+            except Exception as e:
+                self.lab_logger().error("Host请求添加物料时出错")
+                self.lab_logger().error(traceback.format_exc())
+            return res
+
+        # noinspection PyTypeChecker
         self._service_server: Dict[str, Service] = {
             "query_host_name": self.create_service(
                 SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
             ),
+            "append_resource": self.create_service(
+                SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
+            ),
         }
 
         # 向全局在线设备注册表添加设备信息
@@ -437,26 +509,36 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
             self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
-
+            # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
-            # 向Host查询物料当前状态
+            if action_name != "add_resource_from_outer":
-            for k, v in goal.get_fields_and_field_types().items():
+                for k, v in goal.get_fields_and_field_types().items():
-                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                    self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
+                        self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
-                    try:
+                        current_resources = []
-                        r = ResourceGet.Request()
+                        try:
-                        r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
+                            if len(action_kwargs[k]) > 1:
-                        r.with_children = True
+                                for i in action_kwargs[k]:
-                        response = await self._resource_clients["resource_get"].call_async(r)
+                                    r = ResourceGet.Request()
-                    except Exception:
+                                    r.id = i["id"]
-                        logger.error(f"资源查询失败，默认使用本地资源")
+                                    r.with_children = True
-                    # 删除对response.resources的检查，因为它总是存在
+                                    response = await self._resource_clients["resource_get"].call_async(r)
-                    resources_list = [convert_from_ros_msg(rs) for rs in response.resources]  # type: ignore  # FIXME
+                                    current_resources.extend(response.resources)
-                    self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
+                            else:
-                    type_hint = action_paramtypes[k]
+                                r = ResourceGet.Request()
-                    final_type = get_type_class(type_hint)
+                                r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
-                    # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
+                                r.with_children = True
-                    final_resource = convert_resources_to_type(resources_list, final_type)
+                                response = await self._resource_clients["resource_get"].call_async(r)
-                    action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
+                                current_resources.extend(response.resources)
+                        except Exception:
+                            logger.error(f"资源查询失败，默认使用本地资源")
+                        # 删除对response.resources的检查，因为它总是存在
+                        resources_list = [convert_from_ros_msg(rs) for rs in current_resources]  # type: ignore  # FIXME
+                        self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
+                        type_hint = action_paramtypes[k]
+                        final_type = get_type_class(type_hint)
+                        # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
+                        final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
+                        action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
 
             self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
             time_start = time.time()
@@ -527,27 +609,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             del future
 
             # 向Host更新物料当前状态
-            for k, v in goal.get_fields_and_field_types().items():
+            if action_name != "add_resource_from_outer":
-                if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                for k, v in goal.get_fields_and_field_types().items():
-                    continue
+                    if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                self.lab_logger().info(f"更新资源状态: {k}")
+                        continue
-                r = ResourceUpdate.Request()
+                    self.lab_logger().info(f"更新资源状态: {k}")
-                # 仅当action_kwargs[k]不为None时尝试转换
+                    r = ResourceUpdate.Request()
-                akv = action_kwargs[k]
+                    # 仅当action_kwargs[k]不为None时尝试转换
-                apv = action_paramtypes[k]
+                    akv = action_kwargs[k]
-                final_type = get_type_class(apv)
+                    apv = action_paramtypes[k]
-                if final_type is None:
+                    final_type = get_type_class(apv)
-                    continue
+                    if final_type is None:
-                try:
+                        continue
-                    r.resources = [
+                    try:
-                        convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
+                        r.resources = [
-                        for rs in convert_resources_from_type(akv, final_type)  # type: ignore  # FIXME  # 考虑反查到最大的
+                            convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
-                    ]
+                            for rs in convert_resources_from_type(akv, final_type)  # type: ignore  # FIXME  # 考虑反查到最大的
-                    response = await self._resource_clients["resource_update"].call_async(r)
+                        ]
-                    self.lab_logger().debug(f"资源更新结果: {response}")
+                        response = await self._resource_clients["resource_update"].call_async(r)
-                except Exception as e:
+                        self.lab_logger().debug(f"资源更新结果: {response}")
-                    self.lab_logger().error(f"资源更新失败: {e}")
+                    except Exception as e:
-                    self.lab_logger().error(traceback.format_exc())
+                        self.lab_logger().error(f"资源更新失败: {e}")
+                        self.lab_logger().error(traceback.format_exc())
 
             # 发布结果
             goal_handle.succeed()
@@ -627,6 +710,7 @@ class ROS2DeviceNode:
         self,
         device_id: str,
         driver_class: Type[T],
+        device_config: Dict[str, Any],
         driver_params: Dict[str, Any],
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
@@ -641,6 +725,8 @@ class ROS2DeviceNode:
         Args:
             device_id: 设备标识符
             driver_class: 设备类
+            device_config: 原始初始化的json
+            driver_params: driver初始化的参数
             status_types: 状态类型映射
             action_value_mappings: 动作值映射
             hardware_interface: 硬件接口配置
@@ -657,11 +743,12 @@ class ROS2DeviceNode:
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
         self._driver_class = driver_class
+        self.device_config = device_config
         self.driver_is_ros = driver_is_ros
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot")
+        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "DPLiquidHandler"
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos/ros/nodes/presets/host_node.py

@@ -7,11 +7,13 @@ import uuid
 from typing import Optional, Dict, Any, List, ClassVar, Set
 
 from action_msgs.msg import GoalStatus
-from unilabos_msgs.msg import Resource  # type: ignore
+from geometry_msgs.msg import Point
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, SerialCommand  # type: ignore
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
+from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
+    SerialCommand  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
@@ -23,11 +25,9 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg,
     convert_to_ros_msg,
     msg_converter_manager,
-    ros_action_to_json_schema,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
-from unilabos.utils.type_check import TypeEncoder
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -50,7 +50,7 @@ class HostNode(BaseROS2DeviceNode):
         self,
         device_id: str,
         devices_config: Dict[str, Any],
-        resources_config: Any,
+        resources_config: list,
         physical_setup_graph: Optional[Dict[str, Any]] = None,
         controllers_config: Optional[Dict[str, Any]] = None,
         bridges: Optional[List[Any]] = None,
@@ -76,7 +76,7 @@ class HostNode(BaseROS2DeviceNode):
             driver_instance=self,
             device_id=device_id,
             status_types={},
-            action_value_mappings={},
+            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
             hardware_interface={},
             print_publish=False,
             resource_tracker=DeviceNodeResourceTracker(),  # host node并不是通过initialize 包一层传进来的
@@ -97,15 +97,13 @@ class HostNode(BaseROS2DeviceNode):
         self.bridges = bridges
 
         # 创建设备、动作客户端和目标存储
-        self.devices_names: Dict[str, str] = {}  # 存储设备名称和命名空间的映射
+        self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
         self.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 存储设备ID到机器名称的映射
         self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
-        self._action_value_mappings: Dict[str, Dict] = (
+        self._action_value_mappings: Dict[str, Dict] = {}  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
-            {}
-        )  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
-        self._online_devices: Set[str] = set()  # 用于跟踪在线设备
+        self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
         self._last_discovery_time = 0.0  # 上次设备发现的时间
         self._discovery_lock = threading.Lock()  # 设备发现的互斥锁
         self._subscribed_topics = set()  # 用于跟踪已订阅的话题
@@ -259,16 +257,41 @@ class HostNode(BaseROS2DeviceNode):
                     self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
                     action_name = action_id[len(namespace) + 1:]
                     edge_device_id = namespace[9:]
-                    from unilabos.app.mq import mqtt_client
+                    # from unilabos.app.mq import mqtt_client
-                    info_with_schema = ros_action_to_json_schema(action_type)
+                    # info_with_schema = ros_action_to_json_schema(action_type)
-                    mqtt_client.publish_actions(action_name, {
+                    # mqtt_client.publish_actions(action_name, {
-                        "device_id": edge_device_id,
+                    #     "device_id": edge_device_id,
-                        "action_name": action_name,
+                    #     "device_type": "",
-                        "schema": info_with_schema,
+                    #     "action_name": action_name,
-                    })
+                    #     "schema": info_with_schema,
+                    # })
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
+    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
+        for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(resources, device_ids, bind_parent_ids, bind_locations, other_calling_params):
+            # 这里要求device_id传入必须是edge_device_id
+            namespace = "/devices/" + device_id
+            srv_address = f"/srv{namespace}/append_resource"
+            sclient = self.create_client(SerialCommand, srv_address)
+            sclient.wait_for_service()
+            request = SerialCommand.Request()
+            request.command = json.dumps({
+                "resource": resource,
+                "namespace": namespace,
+                "edge_device_id": device_id,
+                "bind_parent_id": bind_parent_id,
+                "bind_location": {
+                    "x": bind_location.x,
+                    "y": bind_location.y,
+                    "z": bind_location.z,
+                },
+                "other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
+            }, ensure_ascii=False)
+            response = sclient.call(request)
+            pass
+        pass
+
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
         根据配置初始化设备，
@@ -297,13 +320,14 @@ class HostNode(BaseROS2DeviceNode):
                 action_type = action_value_mapping["type"]
                 self._action_clients[action_id] = ActionClient(self, action_type, action_id)
                 self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}")  # 子设备再创建用的是Discover发现的
-                from unilabos.app.mq import mqtt_client
+                # from unilabos.app.mq import mqtt_client
-                info_with_schema = ros_action_to_json_schema(action_type)
+                # info_with_schema = ros_action_to_json_schema(action_type)
-                mqtt_client.publish_actions(action_name, {
+                # mqtt_client.publish_actions(action_name, {
-                    "device_id": device_id,
+                #     "device_id": device_id,
-                    "action_name": action_name,
+                #     "device_type": device_config["class"],
-                    "schema": info_with_schema,
+                #     "action_name": action_name,
-                })
+                #     "schema": info_with_schema,
+                # })
             else:
                 self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
         device_key = f"{self.devices_names[device_id]}/{device_id}"  # 这里不涉及二级device_id
@@ -619,7 +643,8 @@ class HostNode(BaseROS2DeviceNode):
                 self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
             except Exception as e:
                 self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
-                r = []
+                r = [resource for resource in self.resources_config if resource.get("id") == request.id]
+                self.lab_logger().warning(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
         else:
             # 本地物料服务，根据 id 查询物料
             r = [resource for resource in self.resources_config if resource.get("id") == request.id]

unilabos/ros/nodes/presets/joint_republisher.py

@@ -0,0 +1,60 @@
+import rclpy,json
+from rclpy.node import Node
+from sensor_msgs.msg import JointState 
+from std_msgs.msg import String
+from rclpy.callback_groups import ReentrantCallbackGroup
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+class JointRepublisher(BaseROS2DeviceNode):
+    def __init__(self,device_id,resource_tracker):
+        super().__init__(
+            driver_instance=self,
+            device_id=device_id,
+            status_types={},
+            action_value_mappings={},
+            hardware_interface={},
+            print_publish=False,
+            resource_tracker=resource_tracker,  
+        )  
+        
+        # print('-'*20,device_id)
+        self.joint_repub = self.create_publisher(String,f'joint_state_repub',10)
+        # 创建订阅者
+        self.create_subscription(
+            JointState,               
+            '/joint_states',         
+            self.listener_callback,  
+            10,
+            callback_group=ReentrantCallbackGroup()
+        )
+        self.msg = String()
+
+    def listener_callback(self, msg:JointState):
+        
+        try:
+            json_dict = {}
+            json_dict["name"]           = list(msg.name)
+            json_dict["position"]       = list(msg.position)
+            json_dict["velocity"]       = list(msg.velocity)
+            json_dict["effort"]         = list(msg.effort)
+
+            self.msg.data = str(json_dict)
+            self.joint_repub.publish(self.msg)
+            # print('-'*20)
+            # print(self.msg.data)
+            
+        except Exception as e:
+            print(e)
+
+
+def main():
+
+    rclpy.init()
+    subscriber = JointRepublisher()
+    rclpy.spin(subscriber)
+    subscriber.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

unilabos/ros/nodes/resource_tracker.py

@@ -1,7 +1,7 @@
 from unilabos.utils.log import logger
 
 
-class DeviceNodeResourceTracker:
+class DeviceNodeResourceTracker(object):
 
     def __init__(self):
         self.resources = []
@@ -15,43 +15,46 @@ class DeviceNodeResourceTracker:
             return resource
 
     def add_resource(self, resource):
-        # 使用内存地址跟踪是否为同一个resource
         for r in self.resources:
             if id(r) == id(resource):
                 return
-        # 添加资源到跟踪器
         self.resources.append(resource)
 
     def clear_resource(self):
         self.resources = []
 
-    def figure_resource(self, resource):
+    def figure_resource(self, query_resource):
-        # 使用内存地址跟踪是否为同一个resource
+        if isinstance(query_resource, list):
-        if isinstance(resource, list):
+            return [self.figure_resource(r) for r in query_resource]
-            return [self.figure_resource(r) for r in resource]
+        res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
-        res_id = resource.id if hasattr(resource, "id") else None
+        res_name = query_resource.name if hasattr(query_resource, "name") else (query_resource.get("name") if isinstance(query_resource, dict) else None)
-        res_name = resource.name if hasattr(resource, "name") else None
         res_identifier = res_id if res_id else res_name
         identifier_key = "id" if res_id else "name"
-        resource_cls_type = type(resource)
+        resource_cls_type = type(query_resource)
         if res_identifier is None:
-            logger.warning(f"resource {resource} 没有id或name，暂不能对应figure")
+            logger.warning(f"resource {query_resource} 没有id或name，暂不能对应figure")
         res_list = []
         for r in self.resources:
-            res_list.extend(
+            if isinstance(query_resource, dict):
-                self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(resource, identifier_key))
+                res_list.extend(
-            )
+                    self.loop_find_resource(r, resource_cls_type, identifier_key, query_resource[identifier_key])
-        assert len(res_list) == 1, f"找到多个资源，请检查资源是否唯一: {res_list}"
+                )
-        self.root_resource2resource[id(resource)] = res_list[0]
+            else:
+                res_list.extend(
+                    self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key))
+                )
+        assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}"
+        self.root_resource2resource[id(query_resource)] = res_list[0]
         # 后续加入其他对比方式
         return res_list[0]
 
-    def loop_find_resource(self, resource, resource_cls_type, identifier_key, compare_value):
+    def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value):
         res_list = []
+        # print(resource, target_resource_cls_type, identifier_key, compare_value)
         children = getattr(resource, "children", [])
         for child in children:
-            res_list.extend(self.loop_find_resource(child, resource_cls_type, identifier_key, compare_value))
+            res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value))
-        if resource_cls_type == type(resource):
+        if target_resource_cls_type == type(resource) or target_resource_cls_type == dict:
             if hasattr(resource, identifier_key):
                 if getattr(resource, identifier_key) == compare_value:
                     res_list.append(resource)

unilabos/ros/utils/driver_creator.py

@@ -6,6 +6,7 @@
 """
 import asyncio
 import inspect
+import json
 import traceback
 from abc import abstractmethod
 from typing import Type, Any, Dict, Optional, TypeVar, Generic
@@ -218,12 +219,22 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                         logger.error(f"PyLabRobot反序列化失败: {deserialize_error}")
                         logger.error(f"PyLabRobot反序列化堆栈: {stack}")
 
-            return self.device_instance
+        return self.device_instance
 
     def post_create(self):
         if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
-            ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
+            def done_cb(*args):
+                logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
+                from unilabos.config.config import BasicConfig
+                if BasicConfig.vis_2d_enable:
+                    from pylabrobot.visualizer.visualizer import Visualizer
+                    vis = Visualizer(resource=self.device_instance, open_browser=True)
+                    def vis_done_cb(*args):
+                        logger.info(f"PyLabRobot设备实例开启了Visualizer {self.device_instance}")
+                    ROS2DeviceNode.run_async_func(vis.setup).add_done_callback(vis_done_cb)
+                    logger.debug(f"PyLabRobot设备实例提交开启Visualizer {self.device_instance}")
+            ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)
 
 
 class ProtocolNodeCreator(DeviceClassCreator[T]):

unilabos_msgs/CMakeLists.txt

@@ -43,6 +43,25 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
+  "action/DPLiquidHandlerAddLiquid.action"
+  "action/DPLiquidHandlerCustomDelay.action"
+  "action/DPLiquidHandlerMix.action"
+  "action/DPLiquidHandlerMoveTo.action"
+  "action/DPLiquidHandlerRemoveLiquid.action"
+  "action/DPLiquidHandlerSetTiprack.action"
+  "action/DPLiquidHandlerTouchTip.action"
+  "action/DPLiquidHandlerTransferLiquid.action"
+
+  "action/EmptyIn.action"
+  "action/FloatSingleInput.action"
+  "action/IntSingleInput.action"
+  "action/StrSingleInput.action"
+  "action/Point3DSeparateInput.action"
+
+  "action/ResourceCreateFromOuter.action"
+
+  "action/SolidDispenseAddPowderTube.action"
+  
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"

unilabos_msgs/action/DPLiquidHandlerAddLiquid.action

@@ -0,0 +1,20 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] reagent_sources
+Resource[] targets
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+int32 mix_time
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerCustomDelay.action

@@ -0,0 +1,6 @@
+float64 seconds
+string msg
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerMix.action

@@ -0,0 +1,11 @@
+Resource[] targets
+int32 mix_time
+int32 mix_vol
+float64 height_to_bottom
+geometry_msgs/Point[] offsets
+float64 mix_rate
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerMoveTo.action

@@ -0,0 +1,7 @@
+Resource well
+float64 dis_to_top
+int32 channel
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action

@@ -0,0 +1,17 @@
+float64[] vols
+Resource[] sources
+Resource waste_liquid
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+int32[] delays
+bool is_96_well
+float64[] top
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerSetTiprack.action

@@ -0,0 +1,5 @@
+Resource[] tip_racks
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerTouchTip.action

@@ -0,0 +1,5 @@
+Resource[] targets
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action

@@ -0,0 +1,25 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] sources
+Resource[] targets
+Resource[] tip_racks
+int32[] use_channels
+float64[] asp_flow_rates
+float64[] dis_flow_rates
+geometry_msgs/Point[] offsets
+bool touch_tip
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+string mix_stage
+int32[] mix_times
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+int32[] delays
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/LiquidHandlerAspirate.action

@@ -1,12 +1,11 @@
-# Bio
 Resource[] resources
 float64[] vols
 int32[] use_channels
 float64[] flow_rates
-float64 end_delay
 geometry_msgs/Point[] offsets
 float64[] liquid_height
 float64[] blow_out_air_volume
+string spread="wide"
 ---
 bool success
 ---

unilabos_msgs/action/LiquidHandlerDispense.action

@@ -1,4 +1,3 @@
-# Bio
 # 请求字段
 Resource[] resources
 float64[] vols
@@ -6,7 +5,7 @@ int32[] use_channels
 float64[] flow_rates
 geometry_msgs/Point[] offsets
 int32[] blow_out_air_volume
-string spread
+string spread="wide"
 ---
 # 结果字段
 bool success

unilabos_msgs/action/ResourceCreateFromOuter.action

@@ -0,0 +1,8 @@
+Resource[] resources
+string[] device_ids
+string[] bind_parent_ids
+geometry_msgs/Point[] bind_locations
+string[] other_calling_params
+---
+bool success
+---