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Xuwznln
65bf870317 Merge remote-tracking branch 'origin/main' into dev 
# Conflicts:
#	test/experiments/comprehensive_protocol/comprehensive_station.json
#	unilabos-win64.yaml
#	unilabos/app/controler.py
#	unilabos/app/register.py
#	unilabos/compile/evacuateandrefill_protocol.py
#	unilabos/registry/device_comms/serial.yaml
#	unilabos/registry/devices/camera.yaml
#	unilabos/registry/devices/characterization_optic.yaml
#	unilabos/registry/devices/hotel.yaml
#	unilabos/registry/devices/laiyu_add_solid.yaml
#	unilabos/registry/devices/liquid_handler.yaml
#	unilabos/registry/devices/mock_devices.yaml
#	unilabos/registry/devices/moveit_config.yaml
#	unilabos/registry/devices/organic_miscellaneous.yaml
#	unilabos/registry/devices/pump_and_valve.yaml
#	unilabos/registry/devices/robot_agv.yaml
#	unilabos/registry/devices/robot_arm.yaml
#	unilabos/registry/devices/robot_gripper.yaml
#	unilabos/registry/devices/robot_linear_motion.yaml
#	unilabos/registry/devices/sim_nodes.yaml
#	unilabos/registry/devices/temperature.yaml
#	unilabos/registry/devices/vacuum_and_purge.yaml
#	unilabos/registry/devices/virtual_device.yaml
#	unilabos/registry/devices/work_station.yaml
#	unilabos/registry/devices/zhida_hplc.yaml
#	unilabos/registry/registry.py
#	unilabos/ros/msgs/message_converter.py
#	unilabos/ros/nodes/base_device_node.py
#	unilabos/ros/nodes/presets/host_node.py
#	unilabos/ros/nodes/presets/protocol_node.py
#	unilabos/utils/import_manager.py
#	unilabos/utils/type_check.py
 2025-08-01 01:25:27 +08:00
Xuwznln
ccf1cdc23f 更新注册表 2025-08-01 01:22:28 +08:00
q434343
dcc970a091 Device visualization (#67) 
* 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

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

* change arm's name

* change name

* fix ik error

* 修改moveit_interface，并在mqtt上报时发送一个时间戳

* 添加机械臂和移液站

* 添加

* 添加硬件

* update

* 添加

---------

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: Junhan Chang <changjh@pku.edu.cn>
 2025-08-01 01:06:10 +08:00
Xuwznln
b63e281ab7 新增用户引导 2025-08-01 01:01:29 +08:00
Xuwznln
2580e80d6f 修复可能的web template找不到的问题 
新增联网获取json启动
删除非-g传入启动json的方式
兼容传参参数名短横线与下划线
更新版本到0.10.1
修复Upload Registry镜像不匹配
 2025-07-31 19:12:22 +08:00
Xuwznln
2b3cec5640 修复可能的web template找不到的问题 
新增联网获取json启动
删除非-g传入启动json的方式
兼容传参参数名短横线与下划线
 2025-07-31 14:25:40 +08:00
Xuwznln
c6ac32c115 新增dll预载，保证部分设备可正常使用unilabos_msgs 2025-07-25 22:17:43 +08:00
Junhan Chang
0584bd5e04 fix vessel_id param passing in protocols 2025-07-25 17:38:17 +08:00
Xuwznln
1b086a85f5 新增lab_id直接传入 2025-07-25 15:23:35 +08:00
Guangxin Zhang
d289c01a34 Delete unnecessary files. 2025-07-24 16:16:12 +08:00
Xuwznln
badf402457 更正注册表中的数字类型 2025-07-24 14:22:53 +08:00
Xuwznln
4d98e1c46c 物料添加失败应该直接raise ValueError，不要等待 2025-07-24 12:10:37 +08:00
Xuwznln
3181671a29 修复注册表handles类型错误的问题 2025-07-24 10:49:54 +08:00
Junhan Chang
d6119115e8 fix protocol_node communication transfer 2025-07-20 17:21:48 +08:00
Guangxin Zhang
0c8c8d7a89 update 2025-07-20 04:04:20 +08:00
Guangxin Zhang
1a0b3b5db1 Update prcxi_9300.json 
This one is good
 2025-07-20 01:02:09 +08:00
Guangxin Zhang
6ead71dcee update 2025-07-20 00:21:06 +08:00
Guangxin Zhang
5a2ea479b9 test 2025-07-19 22:42:43 +08:00
Guangxin Zhang
03e8c1e46d Refactor PRCXI9300Deck initialization and update plate configurations 
- Changed deck name from "PRCXI_Deck" to "PRCXI_Deck_9300".
- Updated plate4 initialization to use get_well_container instead of get_tip_rack.
- Modified plate4 material details with new UUID, code, and name.
- Renamed output JSON file to "deck_9300_new.json".
- Uncommented and adjusted liquid handling operations for clarity and future use.
 2025-07-19 21:07:17 +08:00
Guangxin Zhang
81769d5a32 Update 2025-07-19 19:37:07 +08:00
Guangxin Zhang
30415ef96f Update 2025-07-19 17:40:55 +08:00
Guangxin Zhang
aac3c9d561 Update for prcxi 2025-07-19 16:13:15 +08:00
Guangxin Zhang
27132bbbc1 Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev 2025-07-19 15:16:11 +08:00
Guangxin Zhang
a8cf389b00 Update 2025-07-19 15:16:08 +08:00
Xuwznln
98e9d09583 slim 2025-07-19 15:01:00 +08:00
Xuwznln
1467b9ac91 default param simulator 2025-07-19 14:04:58 +08:00
Xuwznln
c57bb2abbd Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev 2025-07-19 13:32:35 +08:00
Xuwznln
34dd65d280 bump version to 0.10.0 2025-07-19 13:22:06 +08:00
Guangxin Zhang
b08026f861 Update .gitignore 2025-07-19 13:19:27 +08:00
Guangxin Zhang
826b04f515 Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev 2025-07-19 13:18:52 +08:00
Guangxin Zhang
de4da95616 update 2025-07-19 13:18:03 +08:00
Xuwznln
3c9cca88ea 采用http报送resource 2025-07-19 11:09:24 +08:00
Xuwznln
fd18b21147 采用http报送resource 2025-07-19 10:38:58 +08:00
Junhan Chang
c2dfe689aa fix: Protocol node resource run (#65) 
* stir和adjustph的中的bug修不好

* fix sub-resource query in protocol node compiling

* add resource placeholder to vessels

* add the rest yaml

* Update work_station.yaml

---------

Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn>
 2025-07-19 04:19:57 +08:00
Xuwznln
4cd40865b4 fix resource check serialize 2025-07-19 02:24:00 +08:00
Xuwznln
fd3dbcf1ff fix devices 2025-07-19 01:56:41 +08:00
Xuwznln
ebe9e1b1f8 yaml dump支持ordered dict，支持config_info 2025-07-19 01:54:53 +08:00
Xuwznln
862f250e49 update set tip rack 2025-07-19 01:31:33 +08:00
Xuwznln
73f33c82db update registry version & category 2025-07-19 01:29:59 +08:00
Xuwznln
58bf6496b6 bump version 2025-07-19 01:02:39 +08:00
Xuwznln
2b7da0e396 SET TIP RACK 2025-07-19 00:54:24 +08:00
Guangxin Zhang
dd89d00588 Update prcxi.py 2025-07-19 00:22:00 +08:00
Guangxin Zhang
9327d59915 Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev 2025-07-19 00:10:07 +08:00
Guangxin Zhang
736f55765b Update 2025-07-19 00:09:59 +08:00
Xuwznln
9eb1f9823e registry fix 2025-07-19 00:03:02 +08:00
Xuwznln
c61c4aae59 registry fix 2025-07-18 23:59:59 +08:00
Xuwznln
45eaf7019d registry fix 2025-07-18 23:43:22 +08:00
Xuwznln
84aeb6921d mix 2025-07-18 22:38:40 +08:00
Xuwznln
a95e4d446b container_for_nothing 2025-07-18 22:06:19 +08:00
Guangxin Zhang
de6584f7a8 update 2025-07-18 22:03:12 +08:00