lh_joint_publisher:
  category:
  - sim_nodes
  class:
    action_value_mappings:
      auto-check_tf_update_actions:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: check_tf_update_actions的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: check_tf_update_actions参数
          type: object
        type: UniLabJsonCommand
      auto-find_resource_parent:
        feedback: {}
        goal: {}
        goal_default:
          resource_id: null
        handles: []
        result: {}
        schema:
          description: find_resource_parent的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                resource_id:
                  type: string
              required:
              - resource_id
              type: object
            result: {}
          required:
          - goal
          title: find_resource_parent参数
          type: object
        type: UniLabJsonCommand
      auto-inverse_kinematics:
        feedback: {}
        goal: {}
        goal_default:
          parent_id: null
          x: null
          x_joint: null
          y: null
          y_joint: null
          z: null
          z_joint: null
        handles: []
        result: {}
        schema:
          description: inverse_kinematics的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                parent_id:
                  type: string
                x:
                  type: string
                x_joint:
                  type: object
                y:
                  type: string
                y_joint:
                  type: object
                z:
                  type: string
                z_joint:
                  type: object
              required:
              - x
              - y
              - z
              - parent_id
              - x_joint
              - y_joint
              - z_joint
              type: object
            result: {}
          required:
          - goal
          title: inverse_kinematics参数
          type: object
        type: UniLabJsonCommand
      auto-lh_joint_action_callback:
        feedback: {}
        goal: {}
        goal_default:
          goal_handle: null
        handles: []
        result: {}
        schema:
          description: lh_joint_action_callback的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                goal_handle:
                  type: string
              required:
              - goal_handle
              type: object
            result: {}
          required:
          - goal
          title: lh_joint_action_callback参数
          type: object
        type: UniLabJsonCommand
      auto-lh_joint_pub_callback:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: lh_joint_pub_callback的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: lh_joint_pub_callback参数
          type: object
        type: UniLabJsonCommand
      auto-move_joints:
        feedback: {}
        goal: {}
        goal_default:
          option: null
          resource_names: null
          speed: 0.1
          x: null
          x_joint: null
          y: null
          y_joint: null
          z: null
          z_joint: null
        handles: []
        result: {}
        schema:
          description: move_joints的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                option:
                  type: string
                resource_names:
                  type: string
                speed:
                  default: 0.1
                  type: string
                x:
                  type: string
                x_joint:
                  type: string
                y:
                  type: string
                y_joint:
                  type: string
                z:
                  type: string
                z_joint:
                  type: string
              required:
              - resource_names
              - x
              - y
              - z
              - option
              type: object
            result: {}
          required:
          - goal
          title: move_joints参数
          type: object
        type: UniLabJsonCommand
      auto-move_to:
        feedback: {}
        goal: {}
        goal_default:
          joint_positions: null
          parent_id: null
          speed: null
        handles: []
        result: {}
        schema:
          description: move_to的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                joint_positions:
                  type: string
                parent_id:
                  type: string
                speed:
                  type: string
              required:
              - joint_positions
              - speed
              - parent_id
              type: object
            result: {}
          required:
          - goal
          title: move_to参数
          type: object
        type: UniLabJsonCommand
      auto-resource_move:
        feedback: {}
        goal: {}
        goal_default:
          channels: null
          link_name: null
          resource_id: null
        handles: []
        result: {}
        schema:
          description: resource_move的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                channels:
                  type: array
                link_name:
                  type: string
                resource_id:
                  type: string
              required:
              - resource_id
              - link_name
              - channels
              type: object
            result: {}
          required:
          - goal
          title: resource_move参数
          type: object
        type: UniLabJsonCommand
      auto-send_resource_action:
        feedback: {}
        goal: {}
        goal_default:
          link_name: null
          resource_id_list: null
        handles: []
        result: {}
        schema:
          description: send_resource_action的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                link_name:
                  type: string
                resource_id_list:
                  type: array
              required:
              - resource_id_list
              - link_name
              type: object
            result: {}
          required:
          - goal
          title: send_resource_action参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
    status_types: {}
    type: ros2
  config_info: []
  description: 液体处理器关节发布器，用于ROS2仿真系统中的液体处理设备运动控制。该节点通过发布关节状态驱动仿真模型中的机械臂运动，支持三维坐标到关节空间的逆运动学转换、多关节协调控制、资源跟踪和TF变换。具备精确的位置控制、速度调节、pick-and-place操作等功能。适用于液体处理系统的虚拟仿真、运动规划验证、系统集成测试等应用场景。
  handles: []
  icon: ''
  init_param_schema:
    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
  version: 1.0.0