From c0b7f2decd21e3650ac34f521373e2e1ead13a70 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sun, 8 Jun 2025 13:23:55 +0800 Subject: [PATCH] =?UTF-8?q?host=20node=E6=96=B0=E5=A2=9Eresource=20add?= =?UTF-8?q?=E6=97=B6=E9=97=B4=E7=BB=9F=E8=AE=A1=20create=5Fresource?= =?UTF-8?q?=E6=96=B0=E5=A2=9Ehandle=20bump=20version=20to=200.9.2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- README_zh.md | 2 +- recipes/ros-humble-unilabos-msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/registry/registry.py | 10 +++++++++- unilabos/ros/nodes/presets/host_node.py | 4 +++- unilabos_msgs/action/AGVTransfer.action | 1 + unilabos_msgs/action/Clean.action | 1 + unilabos_msgs/action/EmptyIn.action | 2 +- unilabos_msgs/action/EvacuateAndRefill.action | 1 + unilabos_msgs/action/Evaporate.action | 1 + unilabos_msgs/action/FloatSingleInput.action | 1 + unilabos_msgs/action/HeatChill.action | 1 + unilabos_msgs/action/HeatChillStart.action | 1 + unilabos_msgs/action/HeatChillStop.action | 1 + unilabos_msgs/action/IntSingleInput.action | 1 + unilabos_msgs/action/LiquidHandlerAdd.action | 1 + unilabos_msgs/action/LiquidHandlerAspirate.action | 1 + unilabos_msgs/action/LiquidHandlerDiscardTips.action | 1 + unilabos_msgs/action/LiquidHandlerDispense.action | 1 + unilabos_msgs/action/LiquidHandlerDropTips.action | 1 + unilabos_msgs/action/LiquidHandlerDropTips96.action | 1 + .../action/LiquidHandlerIncubateBiomek.action | 1 + unilabos_msgs/action/LiquidHandlerMix.action | 1 + unilabos_msgs/action/LiquidHandlerMoveBiomek.action | 1 + unilabos_msgs/action/LiquidHandlerMoveLid.action | 1 + unilabos_msgs/action/LiquidHandlerMovePlate.action | 1 + unilabos_msgs/action/LiquidHandlerMoveResource.action | 1 + unilabos_msgs/action/LiquidHandlerMoveTo.action | 1 + .../action/LiquidHandlerOscillateBiomek.action | 1 + unilabos_msgs/action/LiquidHandlerPickUpTips.action | 1 + unilabos_msgs/action/LiquidHandlerPickUpTips96.action | 1 + .../action/LiquidHandlerProtocolCreation.action | 1 + unilabos_msgs/action/LiquidHandlerRemove.action | 1 + unilabos_msgs/action/LiquidHandlerReturnTips.action | 1 + unilabos_msgs/action/LiquidHandlerReturnTips96.action | 1 + unilabos_msgs/action/LiquidHandlerStamp.action | 1 + unilabos_msgs/action/LiquidHandlerTransfer.action | 1 + .../action/LiquidHandlerTransferBiomek.action | 1 + unilabos_msgs/action/Point3DSeparateInput.action | 1 + unilabos_msgs/action/PumpTransfer.action | 1 + unilabos_msgs/action/ResourceCreateFromOuter.action | 1 + .../action/ResourceCreateFromOuterEasy.action | 1 + unilabos_msgs/action/SendCmd.action | 1 + unilabos_msgs/action/Separate.action | 1 + unilabos_msgs/action/SolidDispenseAddPowderTube.action | 1 + unilabos_msgs/action/Stir.action | 1 + unilabos_msgs/action/StrSingleInput.action | 1 + unilabos_msgs/action/WorkStationRun.action | 1 + 50 files changed, 60 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index c10ed4e0..00930671 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name # Currently, you need to install the `unilabos_msgs` package # You can download the system-specific package from the Release page -conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2 +conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2 # Install PyLabRobot and other prerequisites git clone https://github.com/PyLabRobot/pylabrobot plr_repo diff --git a/README_zh.md b/README_zh.md index b0b7b30c..433e3135 100644 --- a/README_zh.md +++ b/README_zh.md @@ -45,7 +45,7 @@ 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-0.9.1-xxxxx.tar.bz2 +conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2 # 安装PyLabRobot等前置 git clone https://github.com/PyLabRobot/pylabrobot plr_repo diff --git a/recipes/ros-humble-unilabos-msgs/recipe.yaml b/recipes/ros-humble-unilabos-msgs/recipe.yaml index 2ee7f1f8..a7faf4c1 100644 --- a/recipes/ros-humble-unilabos-msgs/recipe.yaml +++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.9.1 + version: 0.9.2 source: path: ../../unilabos_msgs folder: ros-humble-unilabos-msgs/src/work diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 5b036306..b261d16b 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.9.1" + version: "0.9.2" source: path: ../.. diff --git a/setup.py b/setup.py index 847098a5..e3a86cdb 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.9.1', + version='0.9.2', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 9a5e3b59..a1602727 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -85,7 +85,15 @@ class Registry: "goal_default": yaml.safe_load( io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal)) ), - "handles": {}, + "handles": { + "output": [{ + "handler_key": "Labware", + "label": "Labware", + "data_type": "resource", + "data_source": "handle", + "data_key": "liquid" + }] + }, }, "test_latency": { "type": self.EmptyIn, diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 732e8bbd..f4284629 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -203,8 +203,10 @@ class HostNode(BaseROS2DeviceNode): try: for bridge in self.bridges: if hasattr(bridge, "resource_add"): - self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.") + resource_start_time = time.time() resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name)) + resource_end_time = time.time() + self.lab_logger().info(f"[Host Node-Resource] Adding resources to bridge. {round(resource_start_time - resource_end_time, 5)} seconds") except Exception as ex: self.lab_logger().error("[Host Node-Resource] 添加物料出错！") self.lab_logger().error(traceback.format_exc()) diff --git a/unilabos_msgs/action/AGVTransfer.action b/unilabos_msgs/action/AGVTransfer.action index 06c8c8ef..0c301f47 100644 --- a/unilabos_msgs/action/AGVTransfer.action +++ b/unilabos_msgs/action/AGVTransfer.action @@ -4,6 +4,7 @@ string from_repo_position Resource to_repo string to_repo_position --- +string return_info bool success --- string status diff --git a/unilabos_msgs/action/Clean.action b/unilabos_msgs/action/Clean.action index 093a0dad..8fb9be1e 100644 --- a/unilabos_msgs/action/Clean.action +++ b/unilabos_msgs/action/Clean.action @@ -5,6 +5,7 @@ float64 volume # Optional. Volume of solvent to clean vessel with. float64 temp # Optional. Temperature to heat vessel to while cleaning. int32 repeats # Optional. Number of cleaning cycles to perform. --- +string return_info bool success --- string status diff --git a/unilabos_msgs/action/EmptyIn.action b/unilabos_msgs/action/EmptyIn.action index c44b70c0..e7f59d07 100644 --- a/unilabos_msgs/action/EmptyIn.action +++ b/unilabos_msgs/action/EmptyIn.action @@ -1,4 +1,4 @@ --- - +string return_info --- \ No newline at end of file diff --git a/unilabos_msgs/action/EvacuateAndRefill.action b/unilabos_msgs/action/EvacuateAndRefill.action index ed138dd5..22ffc659 100644 --- a/unilabos_msgs/action/EvacuateAndRefill.action +++ b/unilabos_msgs/action/EvacuateAndRefill.action @@ -3,6 +3,7 @@ string vessel string gas int32 repeats --- +string return_info bool success --- string status diff --git a/unilabos_msgs/action/Evaporate.action b/unilabos_msgs/action/Evaporate.action index 9638a9a8..45887f27 100644 --- a/unilabos_msgs/action/Evaporate.action +++ b/unilabos_msgs/action/Evaporate.action @@ -5,6 +5,7 @@ float64 temp float64 time float64 stir_speed --- +string return_info bool success --- string status diff --git a/unilabos_msgs/action/FloatSingleInput.action b/unilabos_msgs/action/FloatSingleInput.action index 2542d31f..52feed71 100644 --- a/unilabos_msgs/action/FloatSingleInput.action +++ b/unilabos_msgs/action/FloatSingleInput.action @@ -1,4 +1,5 @@ float64 float_in --- +string return_info bool success --- \ No newline at end of file diff --git a/unilabos_msgs/action/HeatChill.action b/unilabos_msgs/action/HeatChill.action index 1c7f8411..87ebf526 100644 --- a/unilabos_msgs/action/HeatChill.action +++ b/unilabos_msgs/action/HeatChill.action @@ -6,6 +6,7 @@ bool stir float64 stir_speed string purpose --- +string return_info bool success --- string status \ No newline at end of file diff --git a/unilabos_msgs/action/HeatChillStart.action b/unilabos_msgs/action/HeatChillStart.action index f9286937..565bad1e 100644 --- a/unilabos_msgs/action/HeatChillStart.action +++ b/unilabos_msgs/action/HeatChillStart.action @@ -3,6 +3,7 @@ string vessel float64 temp string purpose --- +string return_info bool success --- string status \ No newline at end of file diff --git a/unilabos_msgs/action/HeatChillStop.action b/unilabos_msgs/action/HeatChillStop.action index 88fc0293..280ca154 100644 --- a/unilabos_msgs/action/HeatChillStop.action +++ b/unilabos_msgs/action/HeatChillStop.action @@ -1,6 +1,7 @@ # Organic string vessel --- +string return_info bool success --- string status \ No newline at end of file diff --git a/unilabos_msgs/action/IntSingleInput.action b/unilabos_msgs/action/IntSingleInput.action index 0f8b7aaa..23aeec6f 100644 --- a/unilabos_msgs/action/IntSingleInput.action +++ b/unilabos_msgs/action/IntSingleInput.action @@ -1,4 +1,5 @@ int32 int_input --- +string return_info bool success --- \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerAdd.action b/unilabos_msgs/action/LiquidHandlerAdd.action index 0611b276..a17a61c4 100644 --- a/unilabos_msgs/action/LiquidHandlerAdd.action +++ b/unilabos_msgs/action/LiquidHandlerAdd.action @@ -15,6 +15,7 @@ int32 mix_rate float64 mix_liquid_height string[] none_keys --- +string return_info bool success --- # 反馈 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerAspirate.action b/unilabos_msgs/action/LiquidHandlerAspirate.action index 9ba17068..b8558617 100644 --- a/unilabos_msgs/action/LiquidHandlerAspirate.action +++ b/unilabos_msgs/action/LiquidHandlerAspirate.action @@ -7,5 +7,6 @@ float64[] liquid_height float64[] blow_out_air_volume string spread --- +string return_info bool success --- \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerDiscardTips.action b/unilabos_msgs/action/LiquidHandlerDiscardTips.action index a7c6f8ae..c2d290d0 100644 --- a/unilabos_msgs/action/LiquidHandlerDiscardTips.action +++ b/unilabos_msgs/action/LiquidHandlerDiscardTips.action @@ -3,6 +3,7 @@ int32[] use_channels --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerDispense.action b/unilabos_msgs/action/LiquidHandlerDispense.action index 73c4d0f4..e06e3753 100644 --- a/unilabos_msgs/action/LiquidHandlerDispense.action +++ b/unilabos_msgs/action/LiquidHandlerDispense.action @@ -8,6 +8,7 @@ int32[] blow_out_air_volume string spread --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerDropTips.action b/unilabos_msgs/action/LiquidHandlerDropTips.action index 76a5625b..46f7e493 100644 --- a/unilabos_msgs/action/LiquidHandlerDropTips.action +++ b/unilabos_msgs/action/LiquidHandlerDropTips.action @@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets bool allow_nonzero_volume --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerDropTips96.action b/unilabos_msgs/action/LiquidHandlerDropTips96.action index b4b7dfcf..a32891f5 100644 --- a/unilabos_msgs/action/LiquidHandlerDropTips96.action +++ b/unilabos_msgs/action/LiquidHandlerDropTips96.action @@ -5,6 +5,7 @@ geometry_msgs/Point offset bool allow_nonzero_volume --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerIncubateBiomek.action b/unilabos_msgs/action/LiquidHandlerIncubateBiomek.action index 7746db77..da9d7035 100644 --- a/unilabos_msgs/action/LiquidHandlerIncubateBiomek.action +++ b/unilabos_msgs/action/LiquidHandlerIncubateBiomek.action @@ -1,5 +1,6 @@ int32 time --- +string return_info bool success --- diff --git a/unilabos_msgs/action/LiquidHandlerMix.action b/unilabos_msgs/action/LiquidHandlerMix.action index 81d1b71c..99abe939 100644 --- a/unilabos_msgs/action/LiquidHandlerMix.action +++ b/unilabos_msgs/action/LiquidHandlerMix.action @@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets float64 mix_rate string[] none_keys --- +string return_info bool success --- # 反馈 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerMoveBiomek.action b/unilabos_msgs/action/LiquidHandlerMoveBiomek.action index 9bcfc62d..b12feb1d 100644 --- a/unilabos_msgs/action/LiquidHandlerMoveBiomek.action +++ b/unilabos_msgs/action/LiquidHandlerMoveBiomek.action @@ -2,5 +2,6 @@ string source string target --- +string return_info bool success --- diff --git a/unilabos_msgs/action/LiquidHandlerMoveLid.action b/unilabos_msgs/action/LiquidHandlerMoveLid.action index 41a51e58..0c5d7477 100644 --- a/unilabos_msgs/action/LiquidHandlerMoveLid.action +++ b/unilabos_msgs/action/LiquidHandlerMoveLid.action @@ -12,6 +12,7 @@ string put_direction float64 pickup_distance_from_top --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerMovePlate.action b/unilabos_msgs/action/LiquidHandlerMovePlate.action index ea7503a1..6ad283db 100644 --- a/unilabos_msgs/action/LiquidHandlerMovePlate.action +++ b/unilabos_msgs/action/LiquidHandlerMovePlate.action @@ -13,6 +13,7 @@ string put_direction float64 pickup_distance_from_top --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerMoveResource.action b/unilabos_msgs/action/LiquidHandlerMoveResource.action index aaffa968..776d6cee 100644 --- a/unilabos_msgs/action/LiquidHandlerMoveResource.action +++ b/unilabos_msgs/action/LiquidHandlerMoveResource.action @@ -12,6 +12,7 @@ string get_direction string put_direction --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerMoveTo.action b/unilabos_msgs/action/LiquidHandlerMoveTo.action index 740d0fc6..0a9e1fe2 100644 --- a/unilabos_msgs/action/LiquidHandlerMoveTo.action +++ b/unilabos_msgs/action/LiquidHandlerMoveTo.action @@ -2,6 +2,7 @@ Resource well float64 dis_to_top int32 channel --- +string return_info bool success --- # 反馈 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerOscillateBiomek.action b/unilabos_msgs/action/LiquidHandlerOscillateBiomek.action index 5e37744b..b07eb76d 100644 --- a/unilabos_msgs/action/LiquidHandlerOscillateBiomek.action +++ b/unilabos_msgs/action/LiquidHandlerOscillateBiomek.action @@ -2,5 +2,6 @@ int32 rpm int32 time --- +string return_info bool success --- diff --git a/unilabos_msgs/action/LiquidHandlerPickUpTips.action b/unilabos_msgs/action/LiquidHandlerPickUpTips.action index 096bf17e..89287d91 100644 --- a/unilabos_msgs/action/LiquidHandlerPickUpTips.action +++ b/unilabos_msgs/action/LiquidHandlerPickUpTips.action @@ -5,6 +5,7 @@ int32[] use_channels geometry_msgs/Point[] offsets --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerPickUpTips96.action b/unilabos_msgs/action/LiquidHandlerPickUpTips96.action index 761349a1..63a60b4a 100644 --- a/unilabos_msgs/action/LiquidHandlerPickUpTips96.action +++ b/unilabos_msgs/action/LiquidHandlerPickUpTips96.action @@ -4,6 +4,7 @@ Resource tip_rack geometry_msgs/Point offset --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerProtocolCreation.action b/unilabos_msgs/action/LiquidHandlerProtocolCreation.action index de8c605a..c63525a5 100644 --- a/unilabos_msgs/action/LiquidHandlerProtocolCreation.action +++ b/unilabos_msgs/action/LiquidHandlerProtocolCreation.action @@ -6,4 +6,5 @@ string protocol_date string protocol_type string[] none_keys --- +string return_info --- diff --git a/unilabos_msgs/action/LiquidHandlerRemove.action b/unilabos_msgs/action/LiquidHandlerRemove.action index e6b43c53..2b2656e5 100644 --- a/unilabos_msgs/action/LiquidHandlerRemove.action +++ b/unilabos_msgs/action/LiquidHandlerRemove.action @@ -12,6 +12,7 @@ bool is_96_well float64[] top string[] none_keys --- +string return_info bool success --- # 反馈 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerReturnTips.action b/unilabos_msgs/action/LiquidHandlerReturnTips.action index 25d15965..0c3b366c 100644 --- a/unilabos_msgs/action/LiquidHandlerReturnTips.action +++ b/unilabos_msgs/action/LiquidHandlerReturnTips.action @@ -4,6 +4,7 @@ int32[] use_channels bool allow_nonzero_volume --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerReturnTips96.action b/unilabos_msgs/action/LiquidHandlerReturnTips96.action index fd20d712..da670e5f 100644 --- a/unilabos_msgs/action/LiquidHandlerReturnTips96.action +++ b/unilabos_msgs/action/LiquidHandlerReturnTips96.action @@ -3,6 +3,7 @@ bool allow_nonzero_volume --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerStamp.action b/unilabos_msgs/action/LiquidHandlerStamp.action index a7db4bf2..383eee3e 100644 --- a/unilabos_msgs/action/LiquidHandlerStamp.action +++ b/unilabos_msgs/action/LiquidHandlerStamp.action @@ -7,6 +7,7 @@ float64 aspiration_flow_rate float64 dispense_flow_rate --- # 结果字段 +string return_info bool success --- # 反馈字段 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerTransfer.action b/unilabos_msgs/action/LiquidHandlerTransfer.action index 39df59bb..6130f20c 100644 --- a/unilabos_msgs/action/LiquidHandlerTransfer.action +++ b/unilabos_msgs/action/LiquidHandlerTransfer.action @@ -20,6 +20,7 @@ float64 mix_liquid_height int32[] delays string[] none_keys --- +string return_info bool success --- # 反馈 \ No newline at end of file diff --git a/unilabos_msgs/action/LiquidHandlerTransferBiomek.action b/unilabos_msgs/action/LiquidHandlerTransferBiomek.action index 46f9221b..cee47bc7 100644 --- a/unilabos_msgs/action/LiquidHandlerTransferBiomek.action +++ b/unilabos_msgs/action/LiquidHandlerTransferBiomek.action @@ -6,5 +6,6 @@ string aspirate_technique string dispense_technique --- +string return_info bool success --- diff --git a/unilabos_msgs/action/Point3DSeparateInput.action b/unilabos_msgs/action/Point3DSeparateInput.action index 4e15e8f8..5d24125e 100644 --- a/unilabos_msgs/action/Point3DSeparateInput.action +++ b/unilabos_msgs/action/Point3DSeparateInput.action @@ -2,5 +2,6 @@ float64 x float64 y float64 z --- +string return_info bool success --- \ No newline at end of file diff --git a/unilabos_msgs/action/PumpTransfer.action b/unilabos_msgs/action/PumpTransfer.action index bbe6cb1e..69d22b6c 100644 --- a/unilabos_msgs/action/PumpTransfer.action +++ b/unilabos_msgs/action/PumpTransfer.action @@ -10,6 +10,7 @@ float64 rinsing_volume int32 rinsing_repeats bool solid --- +string return_info bool success --- string status diff --git a/unilabos_msgs/action/ResourceCreateFromOuter.action b/unilabos_msgs/action/ResourceCreateFromOuter.action index e0eeb1c7..57330758 100644 --- a/unilabos_msgs/action/ResourceCreateFromOuter.action +++ b/unilabos_msgs/action/ResourceCreateFromOuter.action @@ -4,5 +4,6 @@ string[] bind_parent_ids geometry_msgs/Point[] bind_locations string[] other_calling_params --- +string return_info bool success --- \ No newline at end of file diff --git a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action index cc832a71..b4adaed9 100644 --- a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action +++ b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action @@ -8,5 +8,6 @@ string[] liquid_type float32[] liquid_volume int32 slot_on_deck --- +string return_info bool success --- diff --git a/unilabos_msgs/action/SendCmd.action b/unilabos_msgs/action/SendCmd.action index cc883204..6f453f6e 100644 --- a/unilabos_msgs/action/SendCmd.action +++ b/unilabos_msgs/action/SendCmd.action @@ -1,6 +1,7 @@ # Simple string command --- +string return_info bool success --- string status diff --git a/unilabos_msgs/action/Separate.action b/unilabos_msgs/action/Separate.action index 502b420c..fe8976a7 100644 --- a/unilabos_msgs/action/Separate.action +++ b/unilabos_msgs/action/Separate.action @@ -13,6 +13,7 @@ float64 stir_time # Optional. Time stir for after adding solvent, before separat float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases. float64 settling_time # Optional. Time --- +string return_info bool success --- string status diff --git a/unilabos_msgs/action/SolidDispenseAddPowderTube.action b/unilabos_msgs/action/SolidDispenseAddPowderTube.action index 674c4ffc..db0924e1 100644 --- a/unilabos_msgs/action/SolidDispenseAddPowderTube.action +++ b/unilabos_msgs/action/SolidDispenseAddPowderTube.action @@ -2,6 +2,7 @@ int32 powder_tube_number string target_tube_position float64 compound_mass --- +string return_info float64 actual_mass_mg bool success --- \ No newline at end of file diff --git a/unilabos_msgs/action/Stir.action b/unilabos_msgs/action/Stir.action index defbed34..9542f9dc 100644 --- a/unilabos_msgs/action/Stir.action +++ b/unilabos_msgs/action/Stir.action @@ -3,6 +3,7 @@ float64 stir_time float64 stir_speed float64 settling_time --- +string return_info bool success --- string status \ No newline at end of file diff --git a/unilabos_msgs/action/StrSingleInput.action b/unilabos_msgs/action/StrSingleInput.action index bb762a58..bac365bc 100644 --- a/unilabos_msgs/action/StrSingleInput.action +++ b/unilabos_msgs/action/StrSingleInput.action @@ -1,4 +1,5 @@ string string --- +string return_info bool success --- \ No newline at end of file diff --git a/unilabos_msgs/action/WorkStationRun.action b/unilabos_msgs/action/WorkStationRun.action index ea75668d..5ca9fd4e 100644 --- a/unilabos_msgs/action/WorkStationRun.action +++ b/unilabos_msgs/action/WorkStationRun.action @@ -3,6 +3,7 @@ string wf_name string params Resource resource --- +string return_info bool success --- string status