Pipettor action server
Expose pipettor driver commands through PipettorAction.
beambot.action_servers.pipettor_server · Source
Tools and end effectors · Guide · Symbol index
How it is used
The orchestrator sends liquid-handling and tip/LED commands to beambot_pipettor. This server connects PipettorAction to PipettorStages, which forwards commands to the pipettor driver rather than building arm-motion tasks.
main() starts the endpoint. Command execution and driver-result checks are documented with PipettorStages.run().
Start here
Callable |
Purpose |
|---|---|
Run PipettorActionServer through the shared multithreaded ROS server runner. |
|
Bind PipettorStages to this action-server node. |
Functions
main()
Run PipettorActionServer through the shared multithreaded ROS server runner.
Entry point · Source
main(args=None)
Parameter |
Meaning |
|---|---|
|
Optional ROS initialization arguments; None uses normal rclpy argument handling. |
Returns: None when the server exits.
Errors: KeyboardInterrupt during spin is handled by run_server; initialization/construction and other executor errors propagate.
Side effects: Initializes ROS, constructs the action node, spins until shutdown and destroys the node/context.
PipettorActionServer
Concrete BaseActionServer for pipettor commands. It supplies PipettorStages and inherits the shared one-goal lifecycle.
Inherits from: BaseActionServer.
PipettorActionServer.create_stages()
Bind PipettorStages to this action-server node.
Extension hook · Source
create_stages(self)
Returns: New PipettorStages instance.
Errors: Stage initialization errors propagate.
Side effects: Initializes stage resources and a pipettor driver action client.
PipettorActionServer.__init__()
Configure the shared action base as node beambot_pipettor_server serving beambot_pipettor.
Lifecycle · Source
__init__(self)
Errors: Stage/node/action initialization errors propagate.
Side effects: Constructs the ROS action endpoint and operation stages; logs startup.