24 high level liquidhandler (#28)

* unify liquid_handler definition

* remove default values

* Dev Sync (#25)

* 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

* add resource creat easy action

* identify debug msg

* mq client id

---------

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

* remove default behavior for visualization

* change liquidhandler name

* resource create from outer easy

* add easy resource creation

* easy resource creation logic

* remove wrongly debug msg from others

* remove wrongly debug msg from others

* add missing action clients

* fix device_id

* fix slot_on_deck

* fix registry typo

* complete require packages
msg converter support array string
implements create resource logic

* 修复port输入

* fix: remove dirty actions

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

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"
@@ -59,9 +55,10 @@ set(action_files
   "action/Point3DSeparateInput.action"
 
   "action/ResourceCreateFromOuter.action"
+  "action/ResourceCreateFromOuterEasy.action"
 
   "action/SolidDispenseAddPowderTube.action"
-  
+
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.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/LiquidHandlerAspirate.action

@@ -5,7 +5,7 @@ float64[] flow_rates
 geometry_msgs/Point[] offsets
 float64[] liquid_height
 float64[] blow_out_air_volume
-string spread="wide"
+string spread
 ---
 bool success
 ---

unilabos_msgs/action/LiquidHandlerDispense.action

@@ -5,7 +5,7 @@ int32[] use_channels
 float64[] flow_rates
 geometry_msgs/Point[] offsets
 int32[] blow_out_air_volume
-string spread="wide"
+string spread
 ---
 # 结果字段
 bool success

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -1,11 +1,26 @@
 # 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

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -0,0 +1,12 @@
+string res_id
+string device_id
+string class_name
+string parent
+geometry_msgs/Point bind_locations
+int32[] liquid_input_slot
+string[] liquid_type
+float32[] liquid_volume
+int32 slot_on_deck
+---
+bool success
+---