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100 lines
3.9 KiB
Markdown
100 lines
3.9 KiB
Markdown
# 移液站样例
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本样例介绍如何配置和启动移液站设备，并执行基本操作如插入枪头等。
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## 准备工作
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### 设备配置文件
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移液站设备的完整配置可在 `test/experiments/plr_test.json` 文件中找到。该配置文件采用平展结构，通过 `type` 字段区分物料和设备，并通过 `parent` 和 `children` 字段实现层级关系。
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配置文件示例片段：
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```json
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{
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"nodes": [
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{
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"id": "PLR_STATION",
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"name": "PLR_LH_TEST",
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"parent": null,
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"type": "device",
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"class": "liquid_handler",
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"config": {},
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"data": {},
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"children": [
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"deck"
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]
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},
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{
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"id": "deck",
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"name": "deck",
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"type": "container",
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"class": null,
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"parent": "PLR_STATION",
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"children": [
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"trash",
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"trash_core96",
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"teaching_carrier",
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"tip_rack",
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"plate"
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]
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}
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],
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"links": []
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}
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```
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配置文件定义了移液站的组成部分，主要包括：
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- 移液站本体（LiquidHandler）- 设备类型
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- 移液站携带物料实例（deck）- 物料类型
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## 启动方法
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### 1. 启动移液站节点
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使用以下命令启动移液站设备：
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```bash
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unilab -g test/experiments/plr_test.json --app_bridges ""
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```
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### 2. 执行枪头插入操作
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启动后，您可以使用以下命令执行插入枪头操作：
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```bash
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ros2 action send_goal /devices/PLR_STATION/pick_up_tips unilabos_msgs/action/_liquid_handler_pick_up_tips/LiquidHandlerPickUpTips "{ tip_spots: [ { id: 'tip_rack_tipspot_0_0', name: 'tip_rack_tipspot_0_0', sample_id: null, children: [], parent: 'tip_rack', type: 'device', config: { position: { x: 7.2, y: 68.3, z: -83.5 }, size_x: 9.0, size_y: 9.0, size_z: 0, rotation: { x: 0, y: 0, z: 0, type: 'Rotation' }, category: 'tip_spot', model: null, type: 'TipSpot', prototype_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } }, data: { tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' }, tip_state: { liquids: [], pending_liquids: [], liquid_history: [] }, pending_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } } } ], use_channels: [ 0 ], offsets: [ { x: 0.0, y: 0.0, z: 0.0 } ] }"
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```
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此命令会通过ros通信触发移液站执行枪头插入操作，得到如下的PyLabRobot的输出日志。
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```log
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Picking up tips:
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pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter
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p0: tip_rack_tipspot_0_0 0.0,0.0,0.0 HamiltonTip 1065 8 95.1 Yes
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```
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## 常见问题
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1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过PyLabRobot进行测试
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## 移液站支持的操作
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移液站支持多种操作，以下是当前系统支持的操作列表：
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1. **LiquidHandlerAspirate** - 吸液操作
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2. **LiquidHandlerDispense** - 排液操作
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3. **LiquidHandlerDiscardTips** - 丢弃枪头
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4. **LiquidHandlerDropTips** - 卸下枪头
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5. **LiquidHandlerDropTips96** - 卸下96通道枪头
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6. **LiquidHandlerMoveLid** - 移动盖子
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7. **LiquidHandlerMovePlate** - 移动板子
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8. **LiquidHandlerMoveResource** - 移动资源
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9. **LiquidHandlerPickUpTips** - 插入枪头
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10. **LiquidHandlerPickUpTips96** - 插入96通道枪头
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11. **LiquidHandlerReturnTips** - 归还枪头
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12. **LiquidHandlerReturnTips96** - 归还96通道枪头
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13. **LiquidHandlerStamp** - 打印标记
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14. **LiquidHandlerTransfer** - 液体转移
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这些操作可通过ROS2 Action接口进行调用，以实现复杂的移液流程。 |