## 简单单变量动作函数 ### `SendCmd` ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action :language: yaml ``` --- ### `StrSingleInput` ```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action :language: yaml ``` --- ### `IntSingleInput` ```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action :language: yaml ``` --- ### `FloatSingleInput` ```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action :language: yaml ``` --- ### `Point3DSeparateInput` ```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action :language: yaml ``` --- ### `Wait` ```{literalinclude} ../../unilabos_msgs/action/Wait.action :language: yaml ``` --- ## 常量有机化学操作 Uni-Lab 常量有机化学指令集多数来自 [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，如加热、搅拌、冷却等。 ### `Clean` ```{literalinclude} ../../unilabos_msgs/action/Clean.action :language: yaml ``` --- ### `EvacuateAndRefill` ```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action :language: yaml ``` --- ### `Evaporate` ```{literalinclude} ../../unilabos_msgs/action/Evaporate.action :language: yaml ``` --- ### `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 ``` --- ### `PumpTransfer` ```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action :language: yaml ``` --- ### `Separate` ```{literalinclude} ../../unilabos_msgs/action/Separate.action :language: yaml ``` --- ### `Stir` ```{literalinclude} ../../unilabos_msgs/action/Stir.action :language: yaml ``` --- ### `Add` ```{literalinclude} ../../unilabos_msgs/action/Add.action :language: yaml ``` --- ### `AddSolid` ```{literalinclude} ../../unilabos_msgs/action/AddSolid.action :language: yaml ``` --- ### `AdjustPH` ```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action :language: yaml ``` --- ### `Centrifuge` ```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action :language: yaml ``` --- ### `CleanVessel` ```{literalinclude} ../../unilabos_msgs/action/CleanVessel.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 ``` --- ### `Filter` ```{literalinclude} ../../unilabos_msgs/action/Filter.action :language: yaml ``` --- ### `FilterThrough` ```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action :language: yaml ``` --- ### `Hydrogenate` ```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action :language: yaml ``` --- ### `Purge` ```{literalinclude} ../../unilabos_msgs/action/Purge.action :language: yaml ``` --- ### `Recrystallize` ```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action :language: yaml ``` --- ### `RunColumn` ```{literalinclude} ../../unilabos_msgs/action/RunColumn.action :language: yaml ``` --- ### `StartPurge` ```{literalinclude} ../../unilabos_msgs/action/StartPurge.action :language: yaml ``` --- ### `StartStir` ```{literalinclude} ../../unilabos_msgs/action/StartStir.action :language: yaml ``` --- ### `StopPurge` ```{literalinclude} ../../unilabos_msgs/action/StopPurge.action :language: yaml ``` --- ### `StopStir` ```{literalinclude} ../../unilabos_msgs/action/StopStir.action :language: yaml ``` --- ### `Transfer` ```{literalinclude} ../../unilabos_msgs/action/Transfer.action :language: yaml ``` --- ### `WashSolid` ```{literalinclude} ../../unilabos_msgs/action/WashSolid.action :language: yaml ``` --- ## 移液工作站及相关生物自动化设备操作 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。 ### `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 ``` --- ### `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 ``` --- ### `LiquidHandlerPickUpTips` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips.action :language: yaml ``` --- ### `LiquidHandlerPickUpTips96` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips96.action :language: yaml ``` --- ### `LiquidHandlerReturnTips` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips.action :language: yaml ``` --- ### `LiquidHandlerReturnTips96` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips96.action :language: yaml ``` --- ### `LiquidHandlerStamp` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerStamp.action :language: yaml ``` --- ### `LiquidHandlerTransfer` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action :language: yaml ``` --- ### `LiquidHandlerAdd` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.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 ``` --- ### `LiquidHandlerMoveTo` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action :language: yaml ``` --- ### `LiquidHandlerOscillateBiomek` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action :language: yaml ``` --- ### `LiquidHandlerProtocolCreation` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action :language: yaml ``` --- ### `LiquidHandlerRemove` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.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 ``` --- ### `LiquidHandlerTransferBiomek` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action :language: yaml ``` --- ### `LiquidHandlerTransferGroup` ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action :language: yaml ``` --- ## 多工作站及小车运行、物料转移 ### `AGVTransfer` ```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action :language: yaml ``` --- ### `WorkStationRun` ```{literalinclude} ../../unilabos_msgs/action/WorkStationRun.action :language: yaml ``` --- ### `ResetHandling` ```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action :language: yaml ``` --- ### `ResourceCreateFromOuter` ```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action :language: yaml ``` --- ### `ResourceCreateFromOuterEasy` ```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action :language: yaml ``` --- ### `SetPumpPosition` ```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action :language: yaml ``` --- ## 固体分配与处理设备操作 ### `SolidDispenseAddPowderTube` ```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action :language: yaml ``` --- ## 其他设备操作 ### `EmptyIn` ```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action :language: yaml ``` --- ## 机械臂、夹爪等机器人设备 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`： ### `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 ``` --- ### `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 ``` --- ### `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 ``` --- ### `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` ```yaml #goal definition builtin_interfaces/Duration time --- #result definition builtin_interfaces/Duration total_elapsed_time --- #feedback definition builtin_interfaces/Duration time_left ``` ---