Setup and deployment
Beamline configuration, launch descriptions, tool-specific MoveIt startup, and process cleanup. Docker helpers build and publish images.
Read the guide · All subsystems · Symbol index
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load_beamline_config — Find how the active beamline YAML is selected, parsed, and cached for launch and runtime consumers.
generate_launch_description — Check which action servers start by default and how optional vision, pipettor, and tracing components are enabled.
MoveItLifecycleManager.launch_moveit_with_gripper — Trace payload checks, model selection, launch attempts, and readiness checks when the robot stack starts or changes tools.
Modules
Module |
Responsibility |
Entries |
|---|---|---|
Load and validate the selected beamline YAML, cache its shared mapping, resolve resource paths, and translate settings for ROS launch consumers. |
18 |
|
Start, reuse, and replace MoveIt for the selected gripper. Readiness covers action availability, scene loading, and nonempty robot descriptions; real-hardware startup also checks control and joint feedback and applies the payload. |
21 |
|
Launch EROBS action servers and the orchestrator, with optional vision, pipettor, joystick, and tracing support. |
1 |
|
CMS gripper-parameterized UR driver/MoveIt launch for none, epick, hande, 2fg7 or pipettor, sourcing per-gripper values from beamline YAML. Includes OMPL/Pilz/STOMP and optional joystick Servo. Uses the UR driver’s robot_state_publisher rather than creating another; payload setting is delegated to lifecycle management. |
2 |
|
LiX UR5e/Hand-E launch with OMPL and Pilz pipelines, RViz, controller overlay and a delayed hard-coded payload service call. No configurable gripper, camera or tool-exchange branch. |
2 |
|
Starts rosbridge, Beambot, and a selected-topic bag recorder. Beambot output also goes to a log file. |
1 |
|
Starts rosbridge and Beambot, with Beambot output copied to a log file. It does not start a bag recorder. |
1 |
|
Starts rosbridge, Beambot with mock UR hardware, and a selected-topic bag recorder. Other devices remain separately configured. |
1 |
|
Build Docker images and push their |
2 |