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匹配init param schema格式

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Xuwznln
2025-06-30 12:29:30 +08:00
parent f2753fc69a
commit e7521972e4
22 changed files with 2261 additions and 2609 deletions
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120
unilabos/registry/devices/sim_nodes.yaml
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@@ -8,18 +8,17 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
description: check_tf_update_actions的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: check_tf_update_actions 命令参数
title: check_tf_update_actions参数
type: object
type: UniLabJsonCommand
auto-find_resource_parent:
@@ -30,14 +29,12 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand find_resource_parent 的参数schema
description: find_resource_parent的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand find_resource_parent 的参数schema
properties:
resource_id:
description: '参数: resource_id'
type: string
required:
- resource_id
@@ -45,7 +42,7 @@ lh_joint_publisher:
result: {}
required:
- goal
title: find_resource_parent 命令参数
title: find_resource_parent参数
type: object
type: UniLabJsonCommand
auto-inverse_kinematics:
@@ -62,32 +59,24 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand inverse_kinematics 的参数schema
description: inverse_kinematics的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand inverse_kinematics 的参数schema
properties:
parent_id:
description: '参数: parent_id'
type: string
x:
description: '参数: x'
type: string
x_joint:
description: '参数: x_joint'
type: object
y:
description: '参数: y'
type: string
y_joint:
description: '参数: y_joint'
type: object
z:
description: '参数: z'
type: string
z_joint:
description: '参数: z_joint'
type: object
required:
- x
@@ -101,7 +90,7 @@ lh_joint_publisher:
result: {}
required:
- goal
title: inverse_kinematics 命令参数
title: inverse_kinematics参数
type: object
type: UniLabJsonCommand
auto-lh_joint_action_callback:
@@ -112,14 +101,12 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
description: lh_joint_action_callback的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
properties:
goal_handle:
description: '参数: goal_handle'
type: string
required:
- goal_handle
@@ -127,7 +114,7 @@ lh_joint_publisher:
result: {}
required:
- goal
title: lh_joint_action_callback 命令参数
title: lh_joint_action_callback参数
type: object
type: UniLabJsonCommand
auto-lh_joint_pub_callback:
@@ -137,18 +124,17 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
description: lh_joint_pub_callback的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: lh_joint_pub_callback 命令参数
title: lh_joint_pub_callback参数
type: object
type: UniLabJsonCommand
auto-move_joints:
@@ -167,39 +153,29 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand move_joints 的参数schema
description: move_joints的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand move_joints 的参数schema
properties:
option:
description: '参数: option'
type: string
resource_names:
description: '参数: resource_names'
type: string
speed:
default: 0.1
description: '参数: speed'
type: string
x:
description: '参数: x'
type: string
x_joint:
description: '参数: x_joint'
type: string
y:
description: '参数: y'
type: string
y_joint:
description: '参数: y_joint'
type: string
z:
description: '参数: z'
type: string
z_joint:
description: '参数: z_joint'
type: string
required:
- resource_names
@@ -211,7 +187,7 @@ lh_joint_publisher:
result: {}
required:
- goal
title: move_joints 命令参数
title: move_joints参数
type: object
type: UniLabJsonCommand
auto-move_to:
@@ -224,20 +200,16 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand move_to 的参数schema
description: move_to的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand move_to 的参数schema
properties:
joint_positions:
description: '参数: joint_positions'
type: string
parent_id:
description: '参数: parent_id'
type: string
speed:
description: '参数: speed'
type: string
required:
- joint_positions
@@ -247,7 +219,7 @@ lh_joint_publisher:
result: {}
required:
- goal
title: move_to 命令参数
title: move_to参数
type: object
type: UniLabJsonCommand
auto-resource_move:
@@ -260,20 +232,16 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand resource_move 的参数schema
description: resource_move的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand resource_move 的参数schema
properties:
channels:
description: '参数: channels'
type: array
link_name:
description: '参数: link_name'
type: string
resource_id:
description: '参数: resource_id'
type: string
required:
- resource_id
@@ -283,7 +251,7 @@ lh_joint_publisher:
result: {}
required:
- goal
title: resource_move 命令参数
title: resource_move参数
type: object
type: UniLabJsonCommand
auto-send_resource_action:
@@ -295,17 +263,14 @@ lh_joint_publisher:
handles: []
result: {}
schema:
description: UniLabJsonCommand send_resource_action 的参数schema
description: send_resource_action的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand send_resource_action 的参数schema
properties:
link_name:
description: '参数: link_name'
type: string
resource_id_list:
description: '参数: resource_id_list'
type: array
required:
- resource_id_list
@@ -314,7 +279,7 @@ lh_joint_publisher:
result: {}
required:
- goal
title: send_resource_action 命令参数
title: send_resource_action参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
@@ -324,32 +289,23 @@ lh_joint_publisher:
handles: []
icon: ''
init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand __init__ 的参数schema
properties:
device_id:
default: lh_joint_publisher
description: '参数: device_id'
type: string
rate:
default: 50
description: '参数: rate'
type: integer
resource_tracker:
description: '参数: resource_tracker'
type: string
resources_config:
description: '参数: resources_config'
type: array
required:
- resources_config
- resource_tracker
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
config:
properties:
device_id:
default: lh_joint_publisher
type: string
rate:
default: 50
type: string
resource_tracker:
type: string
resources_config:
type: array
required:
- resources_config
- resource_tracker
type: object
data:
properties: {}
required: []
type: object