unify liquid_handler definition

unilabos_msgs/CMakeLists.txt

@@ -43,14 +43,10 @@ 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/LiquidHandlerAdd.action"
+  "action/LiquidHandlerMix.action"
+  "action/LiquidHandlerMoveTo.action"
+  "action/LiquidHandlerRemove.action"
 
   "action/EmptyIn.action"
   "action/FloatSingleInput.action"

unilabos_msgs/action/DPLiquidHandlerCustomDelay.action

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

unilabos_msgs/action/DPLiquidHandlerSetTiprack.action

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

unilabos_msgs/action/DPLiquidHandlerTouchTip.action

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

unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action

@@ -1,25 +0,0 @@
-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/LiquidHandlerTransfer.action

@@ -1,11 +1,25 @@
-# Bio
-Resource source
+float64[] asp_vols
+float64[] dis_vols
+Resource[] sources
 Resource[] targets
-float64 source_vol
-float64[] ratios
-float64[] target_vols
-float64 aspiration_flow_rate
-float64[] dispense_flow_rates
+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