添加 linkerbot 机器人接入

robodriver/robots/Universal_Client-master/.github/workflows/test.yml

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+name: "LinkerBot CI"
+
+on:
+  push:
+    branches: [ "main" ] # 每次推送到 main 分支时触发
+  pull_request:
+    branches: [ "main" ] # 提交 PR 时触发
+
+jobs:
+  test_requirements:
+    runs-on: ubuntu-latest
+    env:
+      # 强制使用官方源，防止任何遗留的镜像源配置导致 403
+      UV_DEFAULT_INDEX: "https://pypi.org/simple"
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v3
+        with:
+          version: "latest"
+          enable-cache: true # 开启缓存加速后续构建
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install Dependencies
+        run: |
+          uv sync
+          
+      - name: Run Pytest
+        run: |
+          # 运行 tests 目录下的所有测试，并输出详细信息
+          uv run pytest tests/test.py -v

robodriver/robots/Universal_Client-master/.gitignore

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+# Python
+__pycache__/
+*.py[cod]
+*.so
+.env
+venv/
+*.egg-info/
+
+# ROS 
+build/
+devel/
+logs/
+
+# IDE
+.vscode/
+.idea/
+
+repomix-output.xml

robodriver/robots/Universal_Client-master/.repomixignore

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+# Add patterns to ignore here, one per line
+# Example:
+# *.log
+# tmp/
+.git/
+.venv/
+__pycache__/
+*.egg-info/
+uv.lock

robodriver/robots/Universal_Client-master/README.md

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+# LinkerBot_Client
+
+## get start
+1. 克隆仓库
+```
+git clone https://github.com/Yaoxing-Technology/LinkerBot_Client.git && cd LinkerBot_Client
+```
+2. 安装依赖
+```
+pip install uv 
+uv sync
+```
+3. 启动环境
+```
+source .venv/bin/activate
+```
+4. 测试机器人
+```
+python tests/test_robot.py
+```
+

robodriver/robots/Universal_Client-master/config/settings.yaml

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+app:
+  name: "LinkerBot-ZMQ-Hub"
+  middleware: "ros2"  # 可选: "ros1", "ros2"
+  fps: 30
+
+zmq:
+  pub_address: "tcp://0.0.0.0:5577" # 状态广播
+  sub_address: "tcp://0.0.0.0:5578" # 控制端广播
+  debug: false
+
+adapter:
+  pub_address: "tcp://0.0.0.0:6000" # 旧版系统监听的地址
+  fps: 30                           # 数据采集发送频率
+
+# 硬件设备树：已彻底解耦为 sensors(获取) 和 actuators(控制)
+devices:
+  # ==========================================
+  # Sensors: 用于订阅 ROS 话题并将数据上报给 ZMQ
+  # ==========================================
+  sensors:
+    image_top:
+      topic: "/camera/color/image_raw"
+      msg_class: "sensor_msgs.msg.Image"
+
+    # --- 主臂数据源 ---
+    leader_left_joints:
+      topic: "/left_arm_joint_control"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "generic"
+    leader_right_joints:
+      topic: "/right_arm_joint_control"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "generic"
+    leader_left_hand:
+      topic: "/cb_left_hand_raw_data"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "hand"
+    leader_right_hand:
+      topic: "/cb_right_hand_raw_data"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "hand"
+
+    # --- 从臂数据源 ---
+    follower_left_joints:
+      topic: "/robot1/left_arm/joint_states"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "generic"
+    follower_left_pose:
+      topic: "/robot1/left_arm/pose_states"
+      msg_class: "geometry_msgs.msg.PoseStamped"
+      format: "pose"
+    follower_right_joints:
+      topic: "/robot1/right_arm/joint_states"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "generic"
+    follower_right_pose:
+      topic: "/robot1/right_arm/pose_states" 
+      msg_class: "geometry_msgs.msg.PoseStamped"
+      format: "pose"
+
+    # --- 灵巧手 (支持无名关节的脏数据清洗) ---
+    follower_left_hand:
+      topic: "/cb_left_hand_state"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "hand"
+    follower_right_hand:
+      topic: "/cb_right_hand_state"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "hand"
+
+  # ==========================================
+  # Actuators: 用于接收 ZMQ 指令并发布为 ROS 话题
+  # ==========================================
+  actuators:
+    follower_left_arm_control:
+      topic: "/robot1/left_arm/joint_follow"
+      msg_class: "lbot_arm_interfaces.msg.FollowJoint"
+      format: "generic"
+
+    follower_right_arm_control:
+      topic: "/robot1/right_arm/joint_follow"
+      msg_class: "lbot_arm_interfaces.msg.FollowJoint"
+      format: "generic"
+
+    follower_left_hand_control:
+      topic: "/cb_left_hand_control_cmd"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "hand"
+
+    follower_right_hand_control:
+      topic: "/cb_right_hand_control_cmd"
+      msg_class: "sensor_msgs.msg.JointState"
+      format: "hand"
+
+inference:
+  engine: "beingh"        
+  host: "127.0.0.1"     
+  port: 5800              
+
+  engine_params:
+    action_chunk_index: 0 

robodriver/robots/Universal_Client-master/pyproject.toml

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+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "universal-client"
+version = "0.1.0"
+readme = "README.md"
+requires-python = ">=3.10,<3.11"
+
+authors = [
+    {name = "yaoxingkeji"},
+]
+
+dependencies = [
+    "numpy<2",
+    "opencv-python<4.11",
+    "pyyaml>=6.0.3",
+    "requests>=2.32.4",
+    "rospkg>=1.6.0",
+    "torch>=2.11.0",
+    "zmq>=0.0.0",
+]
+[project.scripts]
+universal = "src.main:main"
+
+[tool.setuptools.packages.find]
+where = ["."]
+include = ["src*"]
+namespaces = false
+
+[dependency-groups]
+dev = [
+    "pytest>=8.3.5",
+]

robodriver/robots/Universal_Client-master/repomix.config.json

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+{
+  "$schema": "https://repomix.com/schemas/latest/schema.json",
+  "input": {
+    "maxFileSize": 52428800
+  },
+  "output": {
+    "filePath": "repomix-output.xml",
+    "style": "xml",
+    "parsableStyle": false,
+    "fileSummary": true,
+    "directoryStructure": true,
+    "files": true,
+    "removeComments": false,
+    "removeEmptyLines": false,
+    "compress": false,
+    "topFilesLength": 5,
+    "showLineNumbers": false,
+    "truncateBase64": false,
+    "copyToClipboard": false,
+    "includeFullDirectoryStructure": false,
+    "tokenCountTree": false,
+    "git": {
+      "sortByChanges": true,
+      "sortByChangesMaxCommits": 100,
+      "includeDiffs": false,
+      "includeLogs": false,
+      "includeLogsCount": 50
+    }
+  },
+  "include": [],
+  "ignore": {
+    "useGitignore": true,
+    "useDotIgnore": true,
+    "useDefaultPatterns": true,
+    "customPatterns": []
+  },
+  "security": {
+    "enableSecurityCheck": true
+  },
+  "tokenCount": {
+    "encoding": "o200k_base"
+  }
+}

robodriver/robots/Universal_Client-master/src/api/server.py

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+from fastapi import FastAPI, HTTPException
+from pydantic import BaseModel
+from typing import List, Optional
+
+# 引入全新的工厂方法
+from src.core.factory import create_connector
+from src.core.base_connector import BaseRobotConnector
+
+class ControlCommand(BaseModel):
+    key: str                    # yaml 里 devices 下的 key，例如 "master_left"
+    position: List[float]       # 目标角度列表
+    names: Optional[List[str]] = None # 关节名字 (可选)
+
+app = FastAPI(title="LinkerBot Edge API")
+
+# 全局变量存放硬件抽象层实例
+bot: BaseRobotConnector = None
+
+@app.on_event("startup")
+def startup_event():
+    """
+    FastAPI 启动时，根据 yaml 自动初始化 ROS 1 或 ROS 2 节点
+    """
+    global bot
+    try:
+        bot = create_connector("config/settings.yaml")
+        bot.start() # 启动底层自旋线程和 ZMQ
+        print("✅ Robot Connector attached to API Server")
+    except Exception as e:
+        print(f"❌ Failed to initialize Robot Connector: {e}")
+
+@app.on_event("shutdown")
+def shutdown_event():
+    """优雅释放资源"""
+    global bot
+    if bot:
+        bot.stop()
+        print("🛑 Robot Connector stopped")
+
+@app.get("/")
+def health_check():
+    return {"status": "online", "robot_connected": bot is not None}
+
+@app.get("/state/{key}")
+def get_robot_state(key: str):
+    if not bot:
+        raise HTTPException(status_code=503, detail="Robot not connected")
+
+    data = bot.get_state(key)
+    if data is None:
+        raise HTTPException(status_code=404, detail=f"Key '{key}' not found or no data yet")
+    return data
+
+@app.post("/control")
+def send_command(cmd: ControlCommand):
+    if not bot:
+        raise HTTPException(status_code=503, detail="Robot not connected")
+
+    # 封装为 dict 传递给底层的 send_control
+    command_data = {
+        "position": cmd.position,
+        "names": cmd.names if cmd.names else []
+    }
+
+    success = bot.send_control(cmd.key, command_data)
+
+    if not success:
+        raise HTTPException(status_code=400, detail="Command failed (check logs or key name)")
+
+    return {"status": "executed", "target": cmd.key}