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docs/developer_guide/action_includes.md

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+## 简单单变量动作函数
+
+
+### `SendCmd`
+
+```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
+:language: yaml
+```
+
+----
+## 常量有机化学操作
+
+Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
+
+
+
+### `Clean`
+
+```{literalinclude} ../../unilabos_msgs/action/Clean.action
+:language: yaml
+```
+
+----
+
+### `EvacuateAndRefill`
+
+```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
+:language: yaml
+```
+
+----
+
+### `Evaporate`
+
+```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
+:language: yaml
+```
+
+----
+
+### `HeatChill`
+
+```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
+:language: yaml
+```
+
+----
+
+### `HeatChillStart`
+
+```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action
+:language: yaml
+```
+
+----
+
+### `HeatChillStop`
+
+```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action
+:language: yaml
+```
+
+----
+
+### `PumpTransfer`
+
+```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action
+:language: yaml
+```
+
+----
+
+### `Separate`
+
+```{literalinclude} ../../unilabos_msgs/action/Separate.action
+:language: yaml
+```
+
+----
+
+### `Stir`
+
+```{literalinclude} ../../unilabos_msgs/action/Stir.action
+:language: yaml
+```
+
+----
+## 移液工作站及相关生物自动化设备操作
+
+Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
+
+
+
+### `LiquidHandlerAspirate`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerDiscardTips`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDiscardTips.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerDispense`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerDropTips`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerDropTips96`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips96.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerMoveLid`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveLid.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerMovePlate`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMovePlate.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerMoveResource`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveResource.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerPickUpTips`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerPickUpTips96`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips96.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerReturnTips`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerReturnTips96`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips96.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerStamp`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerStamp.action
+:language: yaml
+```
+
+----
+
+### `LiquidHandlerTransfer`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
+:language: yaml
+```
+
+----
+## 多工作站及小车运行、物料转移
+
+
+### `AGVTransfer`
+
+```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
+:language: yaml
+```
+
+----
+
+### `WorkStationRun`
+
+```{literalinclude} ../../unilabos_msgs/action/WorkStationRun.action
+:language: yaml
+```
+
+----
+## 机械臂、夹爪等机器人设备
+
+Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
+
+
+### `FollowJointTrajectory`
+
+```yaml
+# The trajectory for all revolute, continuous or prismatic joints
+trajectory_msgs/JointTrajectory trajectory
+# The trajectory for all planar or floating joints (i.e. individual joints with more than one DOF)
+trajectory_msgs/MultiDOFJointTrajectory multi_dof_trajectory
+
+# Tolerances for the trajectory.  If the measured joint values fall
+# outside the tolerances the trajectory goal is aborted.  Any
+# tolerances that are not specified (by being omitted or set to 0) are
+# set to the defaults for the action server (often taken from the
+# parameter server).
+
+# Tolerances applied to the joints as the trajectory is executed.  If
+# violated, the goal aborts with error_code set to
+# PATH_TOLERANCE_VIOLATED.
+JointTolerance[] path_tolerance
+JointComponentTolerance[] component_path_tolerance
+
+# To report success, the joints must be within goal_tolerance of the
+# final trajectory value.  The goal must be achieved by time the
+# trajectory ends plus goal_time_tolerance.  (goal_time_tolerance
+# allows some leeway in time, so that the trajectory goal can still
+# succeed even if the joints reach the goal some time after the
+# precise end time of the trajectory).
+#
+# If the joints are not within goal_tolerance after "trajectory finish
+# time" + goal_time_tolerance, the goal aborts with error_code set to
+# GOAL_TOLERANCE_VIOLATED
+JointTolerance[] goal_tolerance
+JointComponentTolerance[] component_goal_tolerance
+builtin_interfaces/Duration goal_time_tolerance
+
+---
+int32 error_code
+int32 SUCCESSFUL = 0
+int32 INVALID_GOAL = -1
+int32 INVALID_JOINTS = -2
+int32 OLD_HEADER_TIMESTAMP = -3
+int32 PATH_TOLERANCE_VIOLATED = -4
+int32 GOAL_TOLERANCE_VIOLATED = -5
+
+# Human readable description of the error code. Contains complementary
+# information that is especially useful when execution fails, for instance:
+# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
+#   trajectory is in the past).
+# - INVALID_JOINTS: The mismatch between the expected controller joints
+#   and those provided in the goal.
+# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
+#   violated which tolerance, and by how much.
+string error_string
+
+---
+std_msgs/Header header
+string[] joint_names
+trajectory_msgs/JointTrajectoryPoint desired
+trajectory_msgs/JointTrajectoryPoint actual
+trajectory_msgs/JointTrajectoryPoint error
+
+string[] multi_dof_joint_names
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
+
+```
+
+----
+### `GripperCommand`
+
+```yaml
+GripperCommand command
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint
+
+```
+
+----
+### `JointTrajectory`
+
+```yaml
+trajectory_msgs/JointTrajectory trajectory
+---
+---
+
+```
+
+----
+### `PointHead`
+
+```yaml
+geometry_msgs/PointStamped target
+geometry_msgs/Vector3 pointing_axis
+string pointing_frame
+builtin_interfaces/Duration min_duration
+float64 max_velocity
+---
+---
+float64 pointing_angle_error
+
+```
+
+----
+### `SingleJointPosition`
+
+```yaml
+float64 position
+builtin_interfaces/Duration min_duration
+float64 max_velocity
+---
+---
+std_msgs/Header header
+float64 position
+float64 velocity
+float64 error
+
+```
+
+----
+### `AssistedTeleop`
+
+```yaml
+#goal definition
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback
+builtin_interfaces/Duration current_teleop_duration
+
+```
+
+----
+### `BackUp`
+
+```yaml
+#goal definition
+geometry_msgs/Point target
+float32 speed
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+float32 distance_traveled
+
+```
+
+----
+### `ComputePathThroughPoses`
+
+```yaml
+#goal definition
+geometry_msgs/PoseStamped[] goals
+geometry_msgs/PoseStamped start
+string planner_id
+bool use_start # If false, use current robot pose as path start, if true, use start above instead
+---
+#result definition
+nav_msgs/Path path
+builtin_interfaces/Duration planning_time
+---
+#feedback definition
+
+```
+
+----
+### `ComputePathToPose`
+
+```yaml
+#goal definition
+geometry_msgs/PoseStamped goal
+geometry_msgs/PoseStamped start
+string planner_id
+bool use_start # If false, use current robot pose as path start, if true, use start above instead
+---
+#result definition
+nav_msgs/Path path
+builtin_interfaces/Duration planning_time
+---
+#feedback definition
+
+```
+
+----
+### `DriveOnHeading`
+
+```yaml
+#goal definition
+geometry_msgs/Point target
+float32 speed
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+float32 distance_traveled
+
+```
+
+----
+### `DummyBehavior`
+
+```yaml
+#goal definition
+std_msgs/String command
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+
+```
+
+----
+### `FollowPath`
+
+```yaml
+#goal definition
+nav_msgs/Path path
+string controller_id
+string goal_checker_id
+---
+#result definition
+std_msgs/Empty result
+---
+#feedback definition
+float32 distance_to_goal
+float32 speed
+
+```
+
+----
+### `FollowWaypoints`
+
+```yaml
+#goal definition
+geometry_msgs/PoseStamped[] poses
+---
+#result definition
+int32[] missed_waypoints
+---
+#feedback definition
+uint32 current_waypoint
+
+```
+
+----
+### `NavigateThroughPoses`
+
+```yaml
+#goal definition
+geometry_msgs/PoseStamped[] poses
+string behavior_tree
+---
+#result definition
+std_msgs/Empty result
+---
+#feedback definition
+geometry_msgs/PoseStamped current_pose
+builtin_interfaces/Duration navigation_time
+builtin_interfaces/Duration estimated_time_remaining
+int16 number_of_recoveries
+float32 distance_remaining
+int16 number_of_poses_remaining
+
+```
+
+----
+### `NavigateToPose`
+
+```yaml
+#goal definition
+geometry_msgs/PoseStamped pose
+string behavior_tree
+---
+#result definition
+std_msgs/Empty result
+---
+#feedback definition
+geometry_msgs/PoseStamped current_pose
+builtin_interfaces/Duration navigation_time
+builtin_interfaces/Duration estimated_time_remaining
+int16 number_of_recoveries
+float32 distance_remaining
+
+```
+
+----
+### `SmoothPath`
+
+```yaml
+#goal definition
+nav_msgs/Path path
+string smoother_id
+builtin_interfaces/Duration max_smoothing_duration
+bool check_for_collisions
+---
+#result definition
+nav_msgs/Path path
+builtin_interfaces/Duration smoothing_duration
+bool was_completed
+---
+#feedback definition
+
+```
+
+----
+### `Spin`
+
+```yaml
+#goal definition
+float32 target_yaw
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+float32 angular_distance_traveled
+
+```
+
+----
+### `Wait`
+
+```yaml
+#goal definition
+builtin_interfaces/Duration time
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+builtin_interfaces/Duration time_left
+
+```
+
+----