From e440cd279c9558c80e46d575cbf20873b7d6b7ea Mon Sep 17 00:00:00 2001
From: Kongchang Feng <2100011801@stu.pku.edu.cn>
Date: Sun, 22 Jun 2025 12:59:59 +0800
Subject: [PATCH] Device registry port (#49)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* 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

* unify liquid_handler definition

* Update virtual_device.yaml

* 更正了stir和heater的连接方式

* 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动

* 修改了add protocol

* 修复了阀门更新版的bug

* 修复了添加protocol前缀导致的不能启动的bug

* Fix handles

* bump version to 0.9.6

* add resource edge upload

* update container registry and handles

* add virtual_separator virtual_rotavap
fix transfer_pump

* fix container value
add parent_name to edge device id

* 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表

* default resource upload mode is false

* 添加了icon的文件名在注册表里面

* 修改了json图中link的格式

* fix resource and edge upload

* fix device ports

* Fix edge id

* 移除device的父节点关联

* separate registry sync and resource_add

* 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数

* 完善tip

* protocol node不再嵌套显示

* bump version to 0.9.7  新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配

* protocol node 执行action不应携带自身device id

* 添加了一套简易双八通阀工作站JSON，亲测能跑

* 修复了很多protocol，亲测能跑

* 添加了run column和filter through的protocol，亲测能跑

* fix mock_reactor

* 修改了大图和小图的json，但是在前端上没看到改变

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
---
 .../mock_protocol/evaporateteststation.json   |  0
 .../resources/opentrons/container.yaml        |  5 -----
 unilabos_msgs/action/ProtocolAdd.action       | 20 -------------------
 .../action/ProtocolCentrifuge.action          | 16 ---------------
 .../action/ProtocolCleanVessel.action         | 12 -----------
 .../action/ProtocolCrystallize.action         | 14 -------------
 unilabos_msgs/action/ProtocolDissolve.action  | 14 -------------
 unilabos_msgs/action/ProtocolDry.action       | 17 ----------------
 unilabos_msgs/action/ProtocolFilter.action    | 19 ------------------
 .../action/ProtocolFilterThrough.action       | 14 -------------
 unilabos_msgs/action/ProtocolPurge.action     | 17 ----------------
 unilabos_msgs/action/ProtocolRunColumn.action | 10 ----------
 .../action/ProtocolStartPurge.action          | 16 ---------------
 unilabos_msgs/action/ProtocolStartStir.action | 14 -------------
 unilabos_msgs/action/ProtocolStopPurge.action | 11 ----------
 unilabos_msgs/action/ProtocolStopStir.action  | 11 ----------
 unilabos_msgs/action/ProtocolTransfer.action  | 20 -------------------
 unilabos_msgs/action/ProtocolWait.action      |  9 ---------
 unilabos_msgs/action/ProtocolWashSolid.action | 16 ---------------
 19 files changed, 255 deletions(-)
 delete mode 100644 test/experiments/mock_protocol/evaporateteststation.json
 delete mode 100644 unilabos/registry/resources/opentrons/container.yaml
 delete mode 100644 unilabos_msgs/action/ProtocolAdd.action
 delete mode 100644 unilabos_msgs/action/ProtocolCentrifuge.action
 delete mode 100644 unilabos_msgs/action/ProtocolCleanVessel.action
 delete mode 100644 unilabos_msgs/action/ProtocolCrystallize.action
 delete mode 100644 unilabos_msgs/action/ProtocolDissolve.action
 delete mode 100644 unilabos_msgs/action/ProtocolDry.action
 delete mode 100644 unilabos_msgs/action/ProtocolFilter.action
 delete mode 100644 unilabos_msgs/action/ProtocolFilterThrough.action
 delete mode 100644 unilabos_msgs/action/ProtocolPurge.action
 delete mode 100644 unilabos_msgs/action/ProtocolRunColumn.action
 delete mode 100644 unilabos_msgs/action/ProtocolStartPurge.action
 delete mode 100644 unilabos_msgs/action/ProtocolStartStir.action
 delete mode 100644 unilabos_msgs/action/ProtocolStopPurge.action
 delete mode 100644 unilabos_msgs/action/ProtocolStopStir.action
 delete mode 100644 unilabos_msgs/action/ProtocolTransfer.action
 delete mode 100644 unilabos_msgs/action/ProtocolWait.action
 delete mode 100644 unilabos_msgs/action/ProtocolWashSolid.action

diff --git a/test/experiments/mock_protocol/evaporateteststation.json b/test/experiments/mock_protocol/evaporateteststation.json
deleted file mode 100644
index e69de29..0000000
diff --git a/unilabos/registry/resources/opentrons/container.yaml b/unilabos/registry/resources/opentrons/container.yaml
deleted file mode 100644
index c64b45f..0000000
--- a/unilabos/registry/resources/opentrons/container.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-container:
-  description: regular organic container
-  class: 
-    module: unilabos.resources.container:RegularContainer
-    type: unilabos
diff --git a/unilabos_msgs/action/ProtocolAdd.action b/unilabos_msgs/action/ProtocolAdd.action
deleted file mode 100644
index de06c6a..0000000
--- a/unilabos_msgs/action/ProtocolAdd.action
+++ /dev/null
@@ -1,20 +0,0 @@
-# Goal - 添加试剂的目标参数  
-string vessel                    # 目标容器  
-string reagent                   # 试剂名称  
-float64 volume                   # 体积 (可选)  
-float64 mass                     # 质量 (可选)    
-string amount                    # 数量描述 (可选)  
-float64 time                     # 添加时间 (可选)  
-bool stir                        # 是否搅拌  
-float64 stir_speed              # 搅拌速度 (可选)  
-bool viscous                     # 是否为粘性液体  
-string purpose                   # 添加目的 (可选)  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolCentrifuge.action b/unilabos_msgs/action/ProtocolCentrifuge.action
deleted file mode 100644
index 356ccb9..0000000
--- a/unilabos_msgs/action/ProtocolCentrifuge.action
+++ /dev/null
@@ -1,16 +0,0 @@
-# Goal - 离心操作的目标参数  
-string vessel                    # 离心容器  
-float64 speed                    # 离心速度 (rpm)  
-float64 time                     # 离心时间 (秒)  
-float64 temp                     # 温度 (可选，摄氏度)  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 current_speed           # 当前转速  
-float64 current_temp            # 当前温度  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolCleanVessel.action b/unilabos_msgs/action/ProtocolCleanVessel.action
deleted file mode 100644
index cba232a..0000000
--- a/unilabos_msgs/action/ProtocolCleanVessel.action
+++ /dev/null
@@ -1,12 +0,0 @@
-string vessel                   # 要清洗的容器名称
-string solvent                  # 用于清洗容器的溶剂名称
-float64 volume                  # 清洗溶剂的体积，可选参数
-float64 temp                    # 清洗时的温度，可选参数
-int32 repeats                   # 清洗操作的重复次数，默认为 1
----
-bool success                    # 操作是否成功
-string message                  # 结果消息
-string return_info
----
-string status                   # 当前状态描述
-float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolCrystallize.action b/unilabos_msgs/action/ProtocolCrystallize.action
deleted file mode 100644
index 50d26cf..0000000
--- a/unilabos_msgs/action/ProtocolCrystallize.action
+++ /dev/null
@@ -1,14 +0,0 @@
-# Goal - 结晶操作的目标参数  
-string vessel                    # 结晶容器  
-float64 ramp_time               # 升温/降温时间 (可选，秒)  
-float64 ramp_temp               # 目标温度 (可选，摄氏度)   
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 current_temp            # 当前温度  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolDissolve.action b/unilabos_msgs/action/ProtocolDissolve.action
deleted file mode 100644
index 6b860d0..0000000
--- a/unilabos_msgs/action/ProtocolDissolve.action
+++ /dev/null
@@ -1,14 +0,0 @@
-string vessel                   # 装有要溶解物质的容器名称
-string solvent                  # 用于溶解物质的溶剂名称
-float64 volume                  # 溶剂的体积，可选参数
-string amount                   # 要溶解物质的量，可选参数
-float64 temp                    # 溶解时的温度，可选参数
-float64 time                    # 溶解的时间，可选参数
-float64 stir_speed              # 搅拌速度，可选参数
----
-bool success                    # 操作是否成功
-string message                  # 结果消息
-string return_info
----
-string status                   # 当前状态描述
-float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolDry.action b/unilabos_msgs/action/ProtocolDry.action
deleted file mode 100644
index 5692ef2..0000000
--- a/unilabos_msgs/action/ProtocolDry.action
+++ /dev/null
@@ -1,17 +0,0 @@
-# Goal - 干燥操作的目标参数  
-string vessel                    # 干燥容器  
-float64 time                     # 干燥时间 (可选，秒)  
-float64 pressure                 # 压力 (可选，Pa)  
-float64 temp                     # 温度 (可选，摄氏度)  
-bool continue_heatchill          # 是否继续加热冷却  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 current_temp            # 当前温度  
-float64 current_pressure        # 当前压力  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolFilter.action b/unilabos_msgs/action/ProtocolFilter.action
deleted file mode 100644
index 564df1a..0000000
--- a/unilabos_msgs/action/ProtocolFilter.action
+++ /dev/null
@@ -1,19 +0,0 @@
-# Goal - 过滤操作的目标参数  
-string vessel                    # 过滤容器  
-string filtrate_vessel          # 滤液容器 (可选)  
-bool stir                        # 是否搅拌  
-float64 stir_speed              # 搅拌速度 (可选)  
-float64 temp                     # 温度 (可选，摄氏度)  
-bool continue_heatchill          # 是否继续加热冷却  
-float64 volume                   # 过滤体积 (可选)  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 current_temp            # 当前温度  
-float64 filtered_volume         # 已过滤体积  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolFilterThrough.action b/unilabos_msgs/action/ProtocolFilterThrough.action
deleted file mode 100644
index dbabd12..0000000
--- a/unilabos_msgs/action/ProtocolFilterThrough.action
+++ /dev/null
@@ -1,14 +0,0 @@
-string from_vessel              # 源容器的名称，即物质起始所在的容器
-string to_vessel                # 目标容器的名称，物质过滤后要到达的容器
-string filter_through           # 过滤时所通过的介质，如滤纸、柱子等
-string eluting_solvent         # 洗脱溶剂的名称，可选参数
-float64 eluting_volume         # 洗脱溶剂的体积，可选参数
-int32 eluting_repeats          # 洗脱操作的重复次数，默认为 0
-float64 residence_time         # 物质在过滤介质中的停留时间，可选参数
----
-bool success                    # 操作是否成功
-string message                  # 结果消息
-string return_info
----
-string status                   # 当前状态描述
-float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolPurge.action b/unilabos_msgs/action/ProtocolPurge.action
deleted file mode 100644
index 00d76b3..0000000
--- a/unilabos_msgs/action/ProtocolPurge.action
+++ /dev/null
@@ -1,17 +0,0 @@
-# Goal - 清洗/吹扫操作的目标参数  
-string vessel                    # 清洗容器  
-string gas                       # 清洗气体 (可选)  
-float64 time                     # 清洗时间 (可选，秒)  
-float64 pressure                 # 压力 (可选，Pa)  
-float64 flow_rate               # 流速 (可选，mL/min)  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 current_pressure        # 当前压力  
-float64 current_flow_rate       # 当前流速  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolRunColumn.action b/unilabos_msgs/action/ProtocolRunColumn.action
deleted file mode 100644
index 3fba948..0000000
--- a/unilabos_msgs/action/ProtocolRunColumn.action
+++ /dev/null
@@ -1,10 +0,0 @@
-string from_vessel              # 源容器的名称，即样品起始所在的容器
-string to_vessel                # 目标容器的名称，分离后的样品要到达的容器
-string column                   # 所使用的柱子的名称
----
-bool success                    # 操作是否成功
-string message                  # 结果消息
-string return_info
----
-string status                   # 当前状态描述
-float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolStartPurge.action b/unilabos_msgs/action/ProtocolStartPurge.action
deleted file mode 100644
index f5500a6..0000000
--- a/unilabos_msgs/action/ProtocolStartPurge.action
+++ /dev/null
@@ -1,16 +0,0 @@
-# Goal - 启动清洗/吹扫操作的目标参数  
-string vessel                    # 清洗容器  
-string gas                       # 清洗气体 (可选)  
-float64 pressure                 # 压力 (可选，Pa)  
-float64 flow_rate               # 流速 (可选，mL/min)  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 current_pressure        # 当前压力  
-float64 current_flow_rate       # 当前流速  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolStartStir.action b/unilabos_msgs/action/ProtocolStartStir.action
deleted file mode 100644
index 534c9f3..0000000
--- a/unilabos_msgs/action/ProtocolStartStir.action
+++ /dev/null
@@ -1,14 +0,0 @@
-# Goal - 启动搅拌操作的目标参数  
-string vessel                    # 搅拌容器  
-float64 stir_speed              # 搅拌速度 (可选，rpm)  
-string purpose                   # 搅拌目的 (可选)  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 current_speed           # 当前搅拌速度  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolStopPurge.action b/unilabos_msgs/action/ProtocolStopPurge.action
deleted file mode 100644
index b7db891..0000000
--- a/unilabos_msgs/action/ProtocolStopPurge.action
+++ /dev/null
@@ -1,11 +0,0 @@
-# Goal - 停止清洗/吹扫操作的目标参数  
-string vessel                    # 清洗容器  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolStopStir.action b/unilabos_msgs/action/ProtocolStopStir.action
deleted file mode 100644
index a320598..0000000
--- a/unilabos_msgs/action/ProtocolStopStir.action
+++ /dev/null
@@ -1,11 +0,0 @@
-# Goal - 停止搅拌操作的目标参数  
-string vessel                    # 搅拌容器  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolTransfer.action b/unilabos_msgs/action/ProtocolTransfer.action
deleted file mode 100644
index f31f9dd..0000000
--- a/unilabos_msgs/action/ProtocolTransfer.action
+++ /dev/null
@@ -1,20 +0,0 @@
-string from_vessel               # 源容器  
-string to_vessel                 # 目标容器  
-float64 volume                   # 转移体积 (可选)  
-string amount                    # 数量描述 (可选)  
-float64 time                     # 转移时间 (可选，秒)  
-bool viscous                     # 是否为粘性液体  
-string rinsing_solvent          # 冲洗溶剂 (可选)  
-float64 rinsing_volume          # 冲洗体积 (可选)  
-int32 rinsing_repeats           # 冲洗重复次数  
-bool solid                       # 是否涉及固体  
----
-# Result - 操作结果  
-bool success                     # 操作是否成功  
-string message                   # 结果消息
-string return_info
----
-# Feedback - 实时反馈  
-float64 progress                 # 进度百分比 (0-100)  
-float64 transferred_volume      # 已转移体积  
-string current_status           # 当前状态描述
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolWait.action b/unilabos_msgs/action/ProtocolWait.action
deleted file mode 100644
index d4c4942..0000000
--- a/unilabos_msgs/action/ProtocolWait.action
+++ /dev/null
@@ -1,9 +0,0 @@
-int32 time                      # 等待时间（秒）
----
-bool success                    # 操作是否成功
-string message                  # 结果消息
-string return_info
----
-string status                   # 当前状态描述
-float64 progress               # 进度百分比 (0-100)
-int32 remaining_time           # 剩余等待时间（秒）
\ No newline at end of file
diff --git a/unilabos_msgs/action/ProtocolWashSolid.action b/unilabos_msgs/action/ProtocolWashSolid.action
deleted file mode 100644
index cb57e5c..0000000
--- a/unilabos_msgs/action/ProtocolWashSolid.action
+++ /dev/null
@@ -1,16 +0,0 @@
-string vessel                   # 装有固体物质的容器名称
-string solvent                  # 用于清洗固体的溶剂名称
-float64 volume                  # 清洗溶剂的体积
-string filtrate_vessel          # 滤液要收集到的容器名称，可选参数
-float64 temp                    # 清洗时的温度，可选参数
-bool stir                       # 是否在清洗过程中搅拌，默认为 False
-float64 stir_speed              # 搅拌速度，可选参数
-float64 time                    # 清洗的时间，可选参数
-int32 repeats                   # 清洗操作的重复次数，默认为 1
----
-bool success                    # 操作是否成功
-string message                  # 结果消息
-string return_info
----
-string status                   # 当前状态描述
-float64 progress               # 进度百分比 (0-100)
\ No newline at end of file