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Dev backward (#228)

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* Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

* CI Check Fix 1

* CI Check Fix 2

* CI Check Fix 3

* CI Check Fix 4

* CI Check Fix 5

* Upgrade to py 3.11.14; ros 0.7; unilabos 0.10.16

* Update to ROS2 Humble 0.7

* Fix Build 1

* Fix Build 2

* Fix Build 3

* Fix Build 4

* Fix Build 5

* Fix Build 6

* Fix Build 7

* ci(deps): bump actions/configure-pages from 4 to 5 (#222)

Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 4 to 5.
- [Release notes](https://github.com/actions/configure-pages/releases)
- [Commits](https://github.com/actions/configure-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/configure-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-artifact from 4 to 6 (#224)

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4 to 6.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](https://github.com/actions/upload-artifact/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-pages-artifact from 3 to 4 (#225)

Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 3 to 4.
- [Release notes](https://github.com/actions/upload-pages-artifact/releases)
- [Commits](https://github.com/actions/upload-pages-artifact/compare/v3...v4)

---
updated-dependencies:
- dependency-name: actions/upload-pages-artifact
  dependency-version: '4'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/checkout from 4 to 6 (#223)

Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* Fix Build 8

* Fix Build 9

* Fix Build 10

* Fix Build 11

* Fix Build 12

* Fix Build 13

* v0.10.17

(cherry picked from commit 176de521b4)

* CI Check use production mode

* Fix OT2 & ReAdd Virtual Devices

* add msg goal

* transfer liquid handles

* gather query

* add unilabos_class

* Support root node change pos

* save class name when deserialize & protocol execute test

* fix upload workflow json

* workflow upload & set liquid fix & add set liquid with plate

* speed up registry load

---------

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: hanhua@dp.tech <2509856570@qq.com>
This commit is contained in:
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2026-02-02 23:57:13 +08:00
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78
docs/user_guide/best_practice.md
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@@ -31,6 +31,14 @@
详细的安装步骤请参考 [安装指南](installation.md)。
**选择合适的安装包：**
| 安装包 | 适用场景 | 包含组件 |
|--------|----------|----------|
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
**关键步骤：**
```bash
@@ -38,15 +46,30 @@
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
# 2. 创建 Conda 环境
mamba create -n unilab python=3.11.11
mamba create -n unilab python=3.11.14
# 3. 激活环境
mamba activate unilab
# 4. 安装 Uni-Lab-OS
# 4. 安装 Uni-Lab-OS（选择其一）
# 方案 A：标准安装（推荐大多数用户）
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
# 方案 B：开发者环境（可编辑模式开发）
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
# 方案 C：完整版（仿真/可视化）
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
```
**选择建议：**
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
#### 1.2 验证安装
```bash
@@ -416,6 +439,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
1. 访问 Web 界面，进入"仪器耗材"模块
2. 在"仪器设备"区域找到并添加上述设备
3. 在"物料耗材"区域找到并添加容器
4. 在workstation中配置protocol_type包含PumpTransferProtocol
![添加Protocol类型](image/add_protocol.png)
![物料列表](image/material.png)
@@ -768,7 +794,43 @@ Waiting for host service...
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
#### 9.1 为什么需要自定义设备？
#### 9.1 开发环境准备
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
```bash
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
mamba create -n unilab python=3.11.14
conda activate unilab
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
# 2. 克隆代码
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
cd Uni-Lab-OS
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
python scripts/dev_install.py
# 或手动安装：
pip install -e .
uv pip install -r unilabos/utils/requirements.txt
```
**为什么使用这种方式？**
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
- 使用 `uv` 替代 `pip`，安装速度更快
- 可编辑模式：代码修改**立即生效**，无需重新安装
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
```bash
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
```
#### 9.2 为什么需要自定义设备？
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
@@ -777,7 +839,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
- 特殊的实验流程
- 第三方设备集成
#### 9.2 创建 Python 包
#### 9.3 创建 Python 包
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
@@ -814,7 +876,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
touch my_lab_devices/my_lab_devices/devices/__init__.py
```
#### 9.3 创建 setup.py
#### 9.4 创建 setup.py
```python
# my_lab_devices/setup.py
@@ -845,7 +907,7 @@ setup(
)
```
#### 9.4 开发安装
#### 9.5 开发安装
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
@@ -860,7 +922,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
- 方便调试和测试
- 支持版本控制（git）
#### 9.5 编写设备驱动
#### 9.6 编写设备驱动
创建设备驱动文件：
@@ -1001,7 +1063,7 @@ class MyPump:
- **返回 Dict**：所有动作方法返回字典类型
- **文档字符串**：详细说明参数和功能
#### 9.6 测试设备驱动
#### 9.7 测试设备驱动
创建简单的测试脚本：