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ot2_workcell
A collection of ROS2 packages which work in tandem to operate the Opentrons OT2-based liquid handling operations of Argonne National Laboratory's Rapid Prototyping Lab (ANL RPL).
MIT License
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Cleanup work
#14
Closed
urd00m
closed
2 years ago
urd00m
commented
2 years ago
The changes done in this merge:
Cleaned up the repository (Got rid of bad code)
Moved the load_and_run out of the master and into an API
Updated package.xml
Bug fixes (big one is the termination error for OT2 and arm)
Significant upgrades to error handling of protocol_manager and ArmTransferHandler
Restructuring
State sync (state is sync across all 3 nodes involved through rostopics)
Debug information for state sync on master and nodes
Seeds for using state sync information, error handling, and errors to dynamically handle errors and allow for the system to continue functioning.
The changes done in this merge: