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bump version to 0.10.3

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Xuwznln
2025-12-26 03:26:06 +08:00
parent 847a300af3
commit e6d8d41183
7 changed files with 440 additions and 87 deletions
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2
.conda/recipe.yaml
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@@ -1,6 +1,6 @@
package: package:
name: unilabos name: unilabos
version: 0.10.12 version: 0.10.13
source: source:
path: ../unilabos path: ../unilabos

2
recipes/msgs/recipe.yaml
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@@ -1,6 +1,6 @@
package: package:
name: ros-humble-unilabos-msgs name: ros-humble-unilabos-msgs
version: 0.10.12 version: 0.10.13
source: source:
path: ../../unilabos_msgs path: ../../unilabos_msgs
target_directory: src target_directory: src

2
recipes/unilabos/recipe.yaml
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@@ -1,6 +1,6 @@
package: package:
name: unilabos name: unilabos
version: "0.10.12" version: "0.10.13"
source: source:
path: ../.. path: ../..

2
setup.py
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@@ -4,7 +4,7 @@ package_name = 'unilabos'
setup( setup(
name=package_name, name=package_name,
version='0.10.12', version='0.10.13',
packages=find_packages(), packages=find_packages(),
include_package_data=True, include_package_data=True,
install_requires=['setuptools'], install_requires=['setuptools'],

2
unilabos/__init__.py
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@@ -1 +1 @@
__version__ = "0.10.12" __version__ = "0.10.13"

515
unilabos/registry/devices/laiyu_liquid_test.yaml
View File

@@ -3,11 +3,11 @@ xyz_stepper_controller:
- laiyu_liquid_test - laiyu_liquid_test
class: class:
action_value_mappings: action_value_mappings:
auto-define_current_as_zero: auto-degrees_to_steps:
feedback: {} feedback: {}
goal: {} goal: {}
goal_default: goal_default:
save_path: work_origin.json degrees: null
handles: {} handles: {}
placeholder_keys: {} placeholder_keys: {}
result: {} result: {}
@@ -17,23 +17,22 @@ xyz_stepper_controller:
feedback: {} feedback: {}
goal: goal:
properties: properties:
save_path: degrees:
default: work_origin.json type: number
type: string required:
required: [] - degrees
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: define_current_as_zero参数 title: degrees_to_steps参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-enable: auto-emergency_stop:
feedback: {} feedback: {}
goal: {} goal: {}
goal_default: goal_default:
axis: null axis: null
state: null
handles: {} handles: {}
placeholder_keys: {} placeholder_keys: {}
result: {} result: {}
@@ -44,27 +43,415 @@ xyz_stepper_controller:
goal: goal:
properties: properties:
axis: axis:
type: string type: object
state:
type: boolean
required: required:
- axis - axis
- state
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: enable参数 title: emergency_stop参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_to: auto-enable_all_axes:
feedback: {}
goal: {}
goal_default:
enable: true
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
enable:
default: true
type: boolean
required: []
type: object
result: {}
required:
- goal
title: enable_all_axes参数
type: object
type: UniLabJsonCommand
auto-enable_motor:
feedback: {} feedback: {}
goal: {} goal: {}
goal_default: goal_default:
acc: 500
axis: null axis: null
precision: 50 enable: true
speed: 2000 handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
axis:
type: object
enable:
default: true
type: boolean
required:
- axis
type: object
result: {}
required:
- goal
title: enable_motor参数
type: object
type: UniLabJsonCommand
auto-home_all_axes:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: home_all_axes参数
type: object
type: UniLabJsonCommand
auto-home_axis:
feedback: {}
goal: {}
goal_default:
axis: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
axis:
type: object
required:
- axis
type: object
result: {}
required:
- goal
title: home_axis参数
type: object
type: UniLabJsonCommand
auto-move_to_position:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
position: null
precision: 100
speed: 5000
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
type: integer
axis:
type: object
position:
type: integer
precision:
default: 100
type: integer
speed:
default: 5000
type: integer
required:
- axis
- position
type: object
result: {}
required:
- goal
title: move_to_position参数
type: object
type: UniLabJsonCommand
auto-move_to_position_degrees:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
degrees: null
precision: 100
speed: 5000
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
type: integer
axis:
type: object
degrees:
type: number
precision:
default: 100
type: integer
speed:
default: 5000
type: integer
required:
- axis
- degrees
type: object
result: {}
required:
- goal
title: move_to_position_degrees参数
type: object
type: UniLabJsonCommand
auto-move_to_position_revolutions:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
precision: 100
revolutions: null
speed: 5000
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
type: integer
axis:
type: object
precision:
default: 100
type: integer
revolutions:
type: number
speed:
default: 5000
type: integer
required:
- axis
- revolutions
type: object
result: {}
required:
- goal
title: move_to_position_revolutions参数
type: object
type: UniLabJsonCommand
auto-move_xyz:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
speed: 5000
x: null
y: null
z: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
type: integer
speed:
default: 5000
type: integer
x:
type: string
y:
type: string
z:
type: string
required: []
type: object
result: {}
required:
- goal
title: move_xyz参数
type: object
type: UniLabJsonCommand
auto-move_xyz_degrees:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
speed: 5000
x_deg: null
y_deg: null
z_deg: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
type: integer
speed:
default: 5000
type: integer
x_deg:
type: string
y_deg:
type: string
z_deg:
type: string
required: []
type: object
result: {}
required:
- goal
title: move_xyz_degrees参数
type: object
type: UniLabJsonCommand
auto-move_xyz_revolutions:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
speed: 5000
x_rev: null
y_rev: null
z_rev: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
type: integer
speed:
default: 5000
type: integer
x_rev:
type: string
y_rev:
type: string
z_rev:
type: string
required: []
type: object
result: {}
required:
- goal
title: move_xyz_revolutions参数
type: object
type: UniLabJsonCommand
auto-revolutions_to_steps:
feedback: {}
goal: {}
goal_default:
revolutions: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
revolutions:
type: number
required:
- revolutions
type: object
result: {}
required:
- goal
title: revolutions_to_steps参数
type: object
type: UniLabJsonCommand
auto-set_speed_mode:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
speed: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
type: integer
axis:
type: object
speed:
type: integer
required:
- axis
- speed
type: object
result: {}
required:
- goal
title: set_speed_mode参数
type: object
type: UniLabJsonCommand
auto-steps_to_degrees:
feedback: {}
goal: {}
goal_default:
steps: null steps: null
handles: {} handles: {}
placeholder_keys: {} placeholder_keys: {}
@@ -75,38 +462,22 @@ xyz_stepper_controller:
feedback: {} feedback: {}
goal: goal:
properties: properties:
acc:
default: 500
type: integer
axis:
type: string
precision:
default: 50
type: integer
speed:
default: 2000
type: integer
steps: steps:
type: integer type: integer
required: required:
- axis
- steps - steps
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: move_to参数 title: steps_to_degrees参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-move_xyz_work: auto-steps_to_revolutions:
feedback: {} feedback: {}
goal: {} goal: {}
goal_default: goal_default:
acc: 1500 steps: null
speed: 100
x: 0.0
y: 0.0
z: 0.0
handles: {} handles: {}
placeholder_keys: {} placeholder_keys: {}
result: {} result: {}
@@ -116,35 +487,21 @@ xyz_stepper_controller:
feedback: {} feedback: {}
goal: goal:
properties: properties:
acc: steps:
default: 1500
type: integer type: integer
speed: required:
default: 100 - steps
type: integer
x:
default: 0.0
type: number
y:
default: 0.0
type: number
z:
default: 0.0
type: number
required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: move_xyz_work参数 title: steps_to_revolutions参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-return_to_work_origin: auto-stop_all_axes:
feedback: {} feedback: {}
goal: {} goal: {}
goal_default: goal_default: {}
acc: 800
speed: 200
handles: {} handles: {}
placeholder_keys: {} placeholder_keys: {}
result: {} result: {}
@@ -153,22 +510,16 @@ xyz_stepper_controller:
properties: properties:
feedback: {} feedback: {}
goal: goal:
properties: properties: {}
acc:
default: 800
type: integer
speed:
default: 200
type: integer
required: [] required: []
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: return_to_work_origin参数 title: stop_all_axes参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
auto-wait_complete: auto-wait_for_completion:
feedback: {} feedback: {}
goal: {} goal: {}
goal_default: goal_default:
@@ -184,22 +535,23 @@ xyz_stepper_controller:
goal: goal:
properties: properties:
axis: axis:
type: string type: object
timeout: timeout:
default: 30.0 default: 30.0
type: string type: number
required: required:
- axis - axis
type: object type: object
result: {} result: {}
required: required:
- goal - goal
title: wait_complete参数 title: wait_for_completion参数
type: object type: object
type: UniLabJsonCommand type: UniLabJsonCommand
module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
status_types: status_types:
status: list all_positions: dict
motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
type: python type: python
config_info: [] config_info: []
description: 新XYZ控制器 description: 新XYZ控制器
@@ -210,23 +562,24 @@ xyz_stepper_controller:
properties: properties:
baudrate: baudrate:
default: 115200 default: 115200
type: string type: integer
client:
type: string
origin_path:
default: unilabos/devices/laiyu_liquid_test/work_origin.json
type: string
port: port:
default: /dev/ttyUSB0
type: string type: string
required: [] timeout:
default: 1.0
type: number
required:
- port
type: object type: object
data: data:
properties: properties:
status: all_positions:
type: array type: object
motor_status:
type: object
required: required:
- status - motor_status
- all_positions
type: object type: object
registry_type: device registry_type: device
version: 1.0.0 version: 1.0.0

2
unilabos_msgs/package.xml
View File

@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>unilabos_msgs</name> <name>unilabos_msgs</name>
<version>0.10.12</version> <version>0.10.13</version>
<description>ROS2 Messages package for unilabos devices</description> <description>ROS2 Messages package for unilabos devices</description>
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer> <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
<maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer> <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>