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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

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KCFeng425
2025-06-17 16:56:49 +08:00
parent 18c4eb3e4d
commit f6f9244ff1
11 changed files with 464 additions and 76 deletions
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2
unilabos_msgs/CMakeLists.txt
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@@ -46,7 +46,7 @@ set(action_files
"action/StopPurge.action"
"action/StopStir.action"
"action/Transfer.action"
"action/SetPumpPosition.action"
"action/LiquidHandlerProtocolCreation.action"
"action/LiquidHandlerAspirate.action"
"action/LiquidHandlerDiscardTips.action"

13
unilabos_msgs/action/SetPumpPosition.action Normal file
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@@ -0,0 +1,13 @@
# Goal - 目标参数
float64 position # 目标位置 (ml)
float64 max_velocity # 最大速度 (ml/s)
---
# Result - 结果
string return_info
bool success # 操作是否成功
string message # 操作结果消息
---
# Feedback - 反馈
string status # 当前状态
float64 current_position # 当前位置
float64 progress # 进度百分比 (0-100)