## 基础通用操作 ### `SendCmd` ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action :language: yaml ``` --- ### `FloatSingleInput` ```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action :language: yaml ``` --- ### `IntSingleInput` ```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action :language: yaml ``` --- ### `Point3DSeparateInput` ```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action :language: yaml ``` --- ### `StrSingleInput` ```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action :language: yaml ``` --- ### `Wait` ```{literalinclude} ../../unilabos_msgs/action/Wait.action :language: yaml ``` --- ## 化学实验操作 Uni-Lab 化学操作指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作。 ### 物料添加 #### `Add` ```{literalinclude} ../../unilabos_msgs/action/Add.action :language: yaml ``` --- #### `AddSolid` ```{literalinclude} ../../unilabos_msgs/action/AddSolid.action :language: yaml ``` --- ### 液体转移与泵控制 #### `PumpTransfer` ```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action :language: yaml ``` --- #### `SetPumpPosition` ```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action :language: yaml ``` --- #### `Transfer` ```{literalinclude} ../../unilabos_msgs/action/Transfer.action :language: yaml ``` --- ### 温度控制 #### `HeatChill` ```{literalinclude} ../../unilabos_msgs/action/HeatChill.action :language: yaml ``` --- #### `HeatChillStart` ```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action :language: yaml ``` --- #### `HeatChillStop` ```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action :language: yaml ``` --- ### 搅拌控制 #### `StartStir` ```{literalinclude} ../../unilabos_msgs/action/StartStir.action :language: yaml ``` --- #### `Stir` ```{literalinclude} ../../unilabos_msgs/action/Stir.action :language: yaml ``` --- #### `StopStir` ```{literalinclude} ../../unilabos_msgs/action/StopStir.action :language: yaml ``` --- ### 气体与真空控制 #### `EvacuateAndRefill` ```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action :language: yaml ``` --- #### `Purge` ```{literalinclude} ../../unilabos_msgs/action/Purge.action :language: yaml ``` --- #### `StartPurge` ```{literalinclude} ../../unilabos_msgs/action/StartPurge.action :language: yaml ``` --- #### `StopPurge` ```{literalinclude} ../../unilabos_msgs/action/StopPurge.action :language: yaml ``` --- ### 分离与过滤 #### `Centrifuge` ```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action :language: yaml ``` --- #### `Filter` ```{literalinclude} ../../unilabos_msgs/action/Filter.action :language: yaml ``` --- #### `FilterThrough` ```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action :language: yaml ``` --- #### `RunColumn` ```{literalinclude} ../../unilabos_msgs/action/RunColumn.action :language: yaml ``` --- #### `Separate` ```{literalinclude} ../../unilabos_msgs/action/Separate.action :language: yaml ``` --- ### 化学处理 #### `AdjustPH` ```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action :language: yaml ``` --- #### `Crystallize` ```{literalinclude} ../../unilabos_msgs/action/Crystallize.action :language: yaml ``` --- #### `Dissolve` ```{literalinclude} ../../unilabos_msgs/action/Dissolve.action :language: yaml ``` --- #### `Dry` ```{literalinclude} ../../unilabos_msgs/action/Dry.action :language: yaml ``` --- #### `Evaporate` ```{literalinclude} ../../unilabos_msgs/action/Evaporate.action :language: yaml ``` --- #### `Hydrogenate` ```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action :language: yaml ``` --- #### `Recrystallize` ```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action :language: yaml ``` --- #### `WashSolid` ```{literalinclude} ../../unilabos_msgs/action/WashSolid.action :language: yaml ``` --- ### 清洁与维护 #### `Clean` ```{literalinclude} ../../unilabos_msgs/action/Clean.action :language: yaml ``` --- #### `CleanVessel` ```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action :language: yaml ``` --- #### `EmptyIn` ```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action :language: yaml ``` --- #### `ResetHandling` ```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action :language: yaml ``` --- ## 生物自动化操作 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含移液工作站的各类操作。 ### `LiquidHandlerAdd` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action :language: yaml ``` --- ### `LiquidHandlerAspirate` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action :language: yaml ``` --- ### `LiquidHandlerDiscardTips` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDiscardTips.action :language: yaml ``` --- ### `LiquidHandlerDispense` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action :language: yaml ``` --- ### `LiquidHandlerDropTips` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips.action :language: yaml ``` --- ### `LiquidHandlerDropTips96` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips96.action :language: yaml ``` --- ### `LiquidHandlerIncubateBiomek` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action :language: yaml ``` --- ### `LiquidHandlerMix` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action :language: yaml ``` --- ### `LiquidHandlerMoveBiomek` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action :language: yaml ``` --- ### `LiquidHandlerMoveLid` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveLid.action :language: yaml ``` --- ### `LiquidHandlerMovePlate` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMovePlate.action :language: yaml ``` --- ### `LiquidHandlerMoveResource` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveResource.action :language: yaml ``` --- ### `LiquidHandlerMoveTo` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action :language: yaml ``` --- ### `LiquidHandlerOscillateBiomek` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action :language: yaml ``` --- ### `LiquidHandlerPickUpTips` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips.action :language: yaml ``` --- ### `LiquidHandlerPickUpTips96` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips96.action :language: yaml ``` --- ### `LiquidHandlerProtocolCreation` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action :language: yaml ``` --- ### `LiquidHandlerRemove` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action :language: yaml ``` --- ### `LiquidHandlerReturnTips` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips.action :language: yaml ``` --- ### `LiquidHandlerReturnTips96` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips96.action :language: yaml ``` --- ### `LiquidHandlerSetGroup` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action :language: yaml ``` --- ### `LiquidHandlerSetLiquid` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action :language: yaml ``` --- ### `LiquidHandlerSetTipRack` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action :language: yaml ``` --- ### `LiquidHandlerStamp` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerStamp.action :language: yaml ``` --- ### `LiquidHandlerTransfer` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action :language: yaml ``` --- ### `LiquidHandlerTransferBiomek` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action :language: yaml ``` --- ### `LiquidHandlerTransferGroup` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action :language: yaml ``` --- ## 专用工作站操作 ### 反应工作站 #### `ReactionStationDripBack` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationDripBack.action :language: yaml ``` --- #### `ReactionStationLiquidFeedBeaker` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action :language: yaml ``` --- #### `ReactionStationLiquidFeedSolvents` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action :language: yaml ``` --- #### `ReactionStationLiquidFeedTitration` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedTitration.action :language: yaml ``` --- #### `ReactionStationLiquidFeedVialsNonTitration` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action :language: yaml ``` --- #### `ReactionStationProExecu` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationProExecu.action :language: yaml ``` --- #### `ReactionStationReactorTakenOut` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationReactorTakenOut.action :language: yaml ``` --- #### `ReactionStationReaTackIn` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationReaTackIn.action :language: yaml ``` --- #### `ReactionStationSolidFeedVial` ```{literalinclude} ../../unilabos_msgs/action/ReactionStationSolidFeedVial.action :language: yaml ``` --- ### 固体分配站 #### `SolidDispenseAddPowderTube` ```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action :language: yaml ``` --- ### 分液工作站 #### `DispenStationSolnPrep` ```{literalinclude} ../../unilabos_msgs/action/DispenStationSolnPrep.action :language: yaml ``` --- #### `DispenStationVialFeed` ```{literalinclude} ../../unilabos_msgs/action/DispenStationVialFeed.action :language: yaml ``` --- ### 后处理工作站 #### `PostProcessGrab` ```{literalinclude} ../../unilabos_msgs/action/PostProcessGrab.action :language: yaml ``` --- #### `PostProcessTriggerClean` ```{literalinclude} ../../unilabos_msgs/action/PostProcessTriggerClean.action :language: yaml ``` --- #### `PostProcessTriggerPostPro` ```{literalinclude} ../../unilabos_msgs/action/PostProcessTriggerPostPro.action :language: yaml ``` --- ## 系统管理与资源调度 ### 资源与布局管理 #### `DefaultLayoutRecommendLayout` ```{literalinclude} ../../unilabos_msgs/action/DefaultLayoutRecommendLayout.action :language: yaml ``` --- #### `ResourceCreateFromOuter` ```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action :language: yaml ``` --- #### `ResourceCreateFromOuterEasy` ```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action :language: yaml ``` --- ### 多工作站协调 #### `AGVTransfer` ```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action :language: yaml ``` --- #### `WorkStationRun` ```{literalinclude} ../../unilabos_msgs/action/WorkStationRun.action :language: yaml ``` --- ## 机器人控制（ROS2 标准） Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`。 ### 机械臂与关节控制 #### `FollowJointTrajectory` ```yaml # The trajectory for all revolute, continuous or prismatic joints trajectory_msgs/JointTrajectory trajectory # The trajectory for all planar or floating joints (i.e. individual joints with more than one DOF) trajectory_msgs/MultiDOFJointTrajectory multi_dof_trajectory # Tolerances for the trajectory. If the measured joint values fall # outside the tolerances the trajectory goal is aborted. Any # tolerances that are not specified (by being omitted or set to 0) are # set to the defaults for the action server (often taken from the # parameter server). # Tolerances applied to the joints as the trajectory is executed. If # violated, the goal aborts with error_code set to # PATH_TOLERANCE_VIOLATED. JointTolerance[] path_tolerance JointComponentTolerance[] component_path_tolerance # To report success, the joints must be within goal_tolerance of the # final trajectory value. The goal must be achieved by time the # trajectory ends plus goal_time_tolerance. (goal_time_tolerance # allows some leeway in time, so that the trajectory goal can still # succeed even if the joints reach the goal some time after the # precise end time of the trajectory). # # If the joints are not within goal_tolerance after "trajectory finish # time" + goal_time_tolerance, the goal aborts with error_code set to # GOAL_TOLERANCE_VIOLATED JointTolerance[] goal_tolerance JointComponentTolerance[] component_goal_tolerance builtin_interfaces/Duration goal_time_tolerance --- int32 error_code int32 SUCCESSFUL = 0 int32 INVALID_GOAL = -1 int32 INVALID_JOINTS = -2 int32 OLD_HEADER_TIMESTAMP = -3 int32 PATH_TOLERANCE_VIOLATED = -4 int32 GOAL_TOLERANCE_VIOLATED = -5 # Human readable description of the error code. Contains complementary # information that is especially useful when execution fails, for instance: # - INVALID_GOAL: The reason for the invalid goal (e.g., the requested # trajectory is in the past). # - INVALID_JOINTS: The mismatch between the expected controller joints # and those provided in the goal. # - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint # violated which tolerance, and by how much. string error_string --- std_msgs/Header header string[] joint_names trajectory_msgs/JointTrajectoryPoint desired trajectory_msgs/JointTrajectoryPoint actual trajectory_msgs/JointTrajectoryPoint error string[] multi_dof_joint_names trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error ``` --- #### `JointTrajectory` ```yaml trajectory_msgs/JointTrajectory trajectory --- --- ``` --- #### `PointHead` ```yaml geometry_msgs/PointStamped target geometry_msgs/Vector3 pointing_axis string pointing_frame builtin_interfaces/Duration min_duration float64 max_velocity --- --- float64 pointing_angle_error ``` --- #### `SingleJointPosition` ```yaml float64 position builtin_interfaces/Duration min_duration float64 max_velocity --- --- std_msgs/Header header float64 position float64 velocity float64 error ``` --- ### 夹爪控制 #### `GripperCommand` ```yaml GripperCommand command --- float64 position # The current gripper gap size (in meters) float64 effort # The current effort exerted (in Newtons) bool stalled # True iff the gripper is exerting max effort and not moving bool reached_goal # True iff the gripper position has reached the commanded setpoint --- float64 position # The current gripper gap size (in meters) float64 effort # The current effort exerted (in Newtons) bool stalled # True iff the gripper is exerting max effort and not moving bool reached_goal # True iff the gripper position has reached the commanded setpoint ``` --- #### `ParallelGripperCommand` ```yaml # Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides. sensor_msgs/JointState command # name: the name(s) of the joint this command is requesting # position: desired position of each gripper joint (radians or meters) # velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second) # effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters) --- sensor_msgs/JointState state # The current gripper state. # position of each joint (radians or meters) # optional: velocity of each joint (radians or meters / second) # optional: effort of each joint (Newtons or Newton-meters) bool stalled # True if the gripper is exerting max effort and not moving bool reached_goal # True if the gripper position has reached the commanded setpoint --- sensor_msgs/JointState state # The current gripper state. # position of each joint (radians or meters) # optional: velocity of each joint (radians or meters / second) # optional: effort of each joint (Newtons or Newton-meters) ``` --- ### 导航与路径规划 #### `AssistedTeleop` ```yaml #goal definition builtin_interfaces/Duration time_allowance --- #result definition builtin_interfaces/Duration total_elapsed_time --- #feedback builtin_interfaces/Duration current_teleop_duration ``` --- #### `BackUp` ```yaml #goal definition geometry_msgs/Point target float32 speed builtin_interfaces/Duration time_allowance --- #result definition builtin_interfaces/Duration total_elapsed_time --- #feedback definition float32 distance_traveled ``` --- #### `ComputePathThroughPoses` ```yaml #goal definition geometry_msgs/PoseStamped[] goals geometry_msgs/PoseStamped start string planner_id bool use_start # If false, use current robot pose as path start, if true, use start above instead --- #result definition nav_msgs/Path path builtin_interfaces/Duration planning_time --- #feedback definition ``` --- #### `ComputePathToPose` ```yaml #goal definition geometry_msgs/PoseStamped goal geometry_msgs/PoseStamped start string planner_id bool use_start # If false, use current robot pose as path start, if true, use start above instead --- #result definition nav_msgs/Path path builtin_interfaces/Duration planning_time --- #feedback definition ``` --- #### `DriveOnHeading` ```yaml #goal definition geometry_msgs/Point target float32 speed builtin_interfaces/Duration time_allowance --- #result definition builtin_interfaces/Duration total_elapsed_time --- #feedback definition float32 distance_traveled ``` --- #### `DummyBehavior` ```yaml #goal definition std_msgs/String command --- #result definition builtin_interfaces/Duration total_elapsed_time --- #feedback definition ``` --- #### `FollowPath` ```yaml #goal definition nav_msgs/Path path string controller_id string goal_checker_id --- #result definition std_msgs/Empty result --- #feedback definition float32 distance_to_goal float32 speed ``` --- #### `FollowWaypoints` ```yaml #goal definition geometry_msgs/PoseStamped[] poses --- #result definition int32[] missed_waypoints --- #feedback definition uint32 current_waypoint ``` --- #### `NavigateThroughPoses` ```yaml #goal definition geometry_msgs/PoseStamped[] poses string behavior_tree --- #result definition std_msgs/Empty result --- #feedback definition geometry_msgs/PoseStamped current_pose builtin_interfaces/Duration navigation_time builtin_interfaces/Duration estimated_time_remaining int16 number_of_recoveries float32 distance_remaining int16 number_of_poses_remaining ``` --- #### `NavigateToPose` ```yaml #goal definition geometry_msgs/PoseStamped pose string behavior_tree --- #result definition std_msgs/Empty result --- #feedback definition geometry_msgs/PoseStamped current_pose builtin_interfaces/Duration navigation_time builtin_interfaces/Duration estimated_time_remaining int16 number_of_recoveries float32 distance_remaining ``` --- #### `SmoothPath` ```yaml #goal definition nav_msgs/Path path string smoother_id builtin_interfaces/Duration max_smoothing_duration bool check_for_collisions --- #result definition nav_msgs/Path path builtin_interfaces/Duration smoothing_duration bool was_completed --- #feedback definition ``` --- #### `Spin` ```yaml #goal definition float32 target_yaw builtin_interfaces/Duration time_allowance --- #result definition builtin_interfaces/Duration total_elapsed_time --- #feedback definition float32 angular_distance_traveled ``` --- #### `Wait` (Nav2) > **注意**：这是 ROS2 nav2_msgs 的标准 Wait action，与 unilabos_msgs 的 Wait action 不同。 ```yaml #goal definition builtin_interfaces/Duration time --- #result definition builtin_interfaces/Duration total_elapsed_time --- #feedback definition builtin_interfaces/Duration time_left ``` ---