Install

python3 -m pip install torch torchvision

set udev rules for pHsensor

sudo cp config/82-ph-sensor.rules /etc/udev/rules.d/.
sudo udevadm control --reload

Conduct experiments

Launch and initialize robot

roslaunch lite6_labauto lite6_labauto.launch
rosrun lite6_labauto robot_init.py
rosrun lite6_labauto robot_move.py

Launch devices

roslaunch auto_pipetty auto_pipetty.launch

Experiment nodes First launch the solution_stack.launch file to prepare all the nodes.

roslaunch solution_prep solution_stack.launch

Start experiment

• Robot motion start by the command
• Prepare emergency button before execution

rosrun solution_prep IPC.py

Others

Initialize all Serial Ports (pH sensor, pipetty, pipetty motor for tip disposal)

roslaunch solution_prep all_serial_nodes.launch

Conduct experiments

1. Use srv to conduct steps of experiments.

2. Or use orchestrator node to conduct the whole experiment of solution preparation at a target pH.

rosrun solution_prep orchestrator.py

Avaiable parameters:

self.V0_ml = float(rospy.get_param("~current_water_volume_ml", 20))  # Initial volume of pure water(mL) in target beaker
self.target_ph = float(rospy.get_param("~target_ph", 4.00))  # target pH
self.c_HCl = float(rospy.get_param("~c_HCl", 0.01585))  # source HCl mol/L
self.ph_tol = float(rospy.get_param("~ph_tolerance", 0.02))  # permitted pH error
self.max_loops = int(rospy.get_param("~max_loops", 6))  # maximum loops

ROS srv for experiment

BeakerMani.srv

# input
bool shake
---
# output
bool success
string message

pHMeasure.srv

# input

float32 timeout_s
---
# output
bool success
float32 ph
string message

PipetteDo.srv

# input
string liquid # "HCl" or "water"
float32 volume_ul # Volume to aspirate
int32 tip_id
---
# output
bool success
string message

TweezersDraw.srv

# input
bool draw
---
# output
bool success
string message