No version for distro humble showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro kilted showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro ardent showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro bouncy showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro crystal showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro eloquent showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro dashing showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro foxy showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code

No version for distro lunar showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro jade showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
hydro

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	hydro-devel
Last Updated	2015-11-02
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
Isaac Isao Saito

Authors

Kei Okada

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

1.0.37 (2015-09-11)

[test] Optimize rostest time-limit
Contributors: Shunichi Nozawa

1.0.36 (2015-08-24)

[feat] Add dual-arm moveit group
Contributors: Isaac IY Saito

1.0.35 (2015-08-14)

[feat] show Hrpsys host controller version info
[sys] Install missing older IDL (hrpsys_315_1_9.hrpsys) to increase compatibility with older version of hrpsys host
[test] Generalization, add some robust tests (test_set_target_pose_relative_333 will be fail for old hrpsys https://github.com/start-jsk/rtmros_hironx/pull/334)
Contributors: Kei Okada, Isaac IY Saito

1.0.34 (2015-08-04)

[fix] Don't initialize ROS client if robot_description is not found
Contributors: Kei Okada

1.0.33 (2015-07-30)

[fix] Fix unusual Hironx robot host name in launch file.
[fix] Cleaner tf frame (BODY_LINK to WAIST)
[sys] More robust unit test
Contributors: Ryosuke, Shunichi Nozawa, Isaac IY Saito

1.0.32 (2015-07-16)

[feat] force compensation for old hrpsys version
[Doc] Indigo update. hironx clarification for conf files.
[sys] Remove manifest.xml from hironx_ros_bridge package.
Contributors: Kei Okada, TORK Developer 534, Isaac I.Y. Saito

1.0.31 (2015-04-28)

(Improvement) [hironx_client.py] need to support newer version of idl (https://github.com/fkanehiro/hrpsys-base/pull/580)
Contributors: Kei Okada

1.0.30 (2015-04-16)

[hironx_client.py] fix due to API changes https://github.com/fkanehiro/hrpsys-base/pull/555/files
[test/test-hirionx-ros-bridge-send-pose.launch] remove some of test sequence to pass travis
[test/test-hirionx-ros-bridge-send-test.launch] remove some of test sequence to pass travis
(robot) Add OSS log files on QNX fetch script.
Contributors: Isaac IY Saito, Kei Okada

1.0.29 (2015-04-06)

Feature

[robot-compile-hrpsys.sh] Optimization (remove downloaded source file, this consumes hdd spaces)

[kawada-hironx.dae, test_hironx.py] add forcesensor in dae model and update test_impedance_Controller

Fix

[hironx_client.py] Enable to work on older hrpsys (possible fix to #337)

Let the build of JR3 driver pass (by reverting unnecessary lint-ization (fix #271))

[hironx_ros_bridge] hironx_ros_bridge.launch: collision detector use component, not plugin so instance name is not co, but CollisionDetector

* UnitTest

[*.test] short time-limit because travis raise error if we do get any output for 10 min
[hironx_ros_bridge/test] Modularize test cases
[test-hironx-ros-bridge.test] add retry=2 for test_hironx_ros_bridge.py
[test_hironx.py] Check version of hrpsys for impedance_controller
[test_hironx_ik.py] add test code to check #319
relax test code, that #287 is not closed

Contributors: Kei Okada, Isaac IY Saito

1.0.28 (2015-02-06)

Add rqt hironx_dashboard.
Now users can pecify a reference frame with set/get* methods of

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	pr2_controllers_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Latest build history: Sat, 14 May 2022 23:24:00 GMT (last 1 of 1 builds) #2 14-May-2022 23:05 60 / 61
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing indigo. Known supported distros are highlighted in the buttons above.

hironx_ros_bridge package from rtmros_hironx repo

hironx_calibration hironx_moveit_config hironx_ros_bridge rtmros_hironx

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_hironx.git
VCS Type	git
VCS Version	indigo-devel
Last Updated	2020-05-13
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

Additional Links

Maintainers

Kei Okada
TORK

Authors

Kei Okada
Isaac I.Y. Saito

hironx_ros_bridge/README.rst

Launch files, testus

The following two launch files are the main components for this robot. Users usually don't launch neither of them directly (instead, use the ones explained later).

[hironx_ros_bridge.launch]{.title-ref} starts processes we call as "ROS bridge", that bridges between [ROS]{.title-ref} and [OpenRTM]{.title-ref}. This is necessary when you use ROS with both real robot and simulation.

[hironx_startup.launch]{.title-ref} is used only for the simulation; This starts up [Omniorb]{.title-ref}'s name server, which is not necessary with the real robot.

As mentioned, users don't directly launch neither of above; launch one of the followings instead:

[hironx_ros_bridge_real.launch]{.title-ref} for the real robot.

[hironx_ros_bridge_simulation.launch]{.title-ref} for the simulation.

Unit tests

There are multiple usecases for tests. So far with this package we aim two of them: stress tests and acceptance tests. They are separated into different [rostest]{.title-ref} files ([.test]{.title-ref}). Most of the files relevant to testing are available in [/test]{.title-ref} folder.

Stress tests

Test cases in these suites are relatively aggressive. Similar to the [.launch]{.title-ref}, [rostest]{.title-ref} ([.test]{.title-ref}) files are separated per [ROS]{.title-ref} and [hrpsys]{.title-ref} as follows:

[test-hironx-ros-bridge.test]{.title-ref} tests [ROS]{.title-ref}-based commands via [ROS_Client]{.title-ref} client class. This internally launches [hironx_ros_bridge.launch]{.title-ref}.

[test-hironx.test]{.title-ref} tests [hrpsys]{.title-ref}-based commands via [HIRONX]{.title-ref} client class. This launches [hironx_startup.launch]{.title-ref}.

NOTE: these stress tests are currently intended for the simulation only (see the reasoning[1]. Run on the REAL ROBOT WITH EXTRA CARE.

Acceptance tests

(TBD)

Config files

[hironx_ros_bridge/conf/*.in]{.title-ref} files are the template files that are used during compile process, and the generated files will be used by [hrpsys]{.title-ref}. ROS won't take use of those.

CHANGELOG

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

force set ORBgiopMaxMsgSize=2147483648 for hironx_client.py (#540)
- increase test_no_moveit
- hot fix for https://github.com/start-jsk/rtmros_hironx/issues/539 On 16.04 (omniorb4-dev 4.1) if we start openhrp-model-loader with <env name="ORBgiopMaxMsgSize" value="2147483648" /> all connection(?) conect respenct giopMaxMsgSize But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648 for each clients
[hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf) (#535)
- [hironx_ros_bridge] Simplify CollisionDetector disabling specific to HIRONX
- [hironx_ros_bridge] Generalize disabling/enabling RTCs from conf
- [hironx_ros_bridge] Enable to run CollisionDetector RTC by setting conf (Robot.conf)
- [hironx_ros_bridge] Add test to check if CollisionDetector is disabled with default conf
- [hironx_ros_bridge] Add test to disable/enable RTCs from conf
Contributors: Kei Okada, Shun Hasegawa

2.1.1 (2019-02-20)

Avoid node clashing when USE_COLLISIONCHECK is true (#528 )
hironx_ros_bridge/test/test-hironx-ros-bridge.test: increse time-limit from 100 to 200 (#531 )
- increse time-limit from 100 to 200, to solve https://api.travis-ci.org/v3/job/407698809/log.txt
fix python_qt_binding for qt5 (#525 )
hironx_ros_bridge/src/hironx_ros_bridge/old_api.py: add python file to support old api (#521 )
Contributors: Guilherme Affonso, Kei Okada, Felix von Drigalski

2.1.0 (2017-09-07)

get nshost from rtmnameserver, sometimes nshost is different from rosmaster (#513)
hironx_ros_bridge_real.launch: support HRPSYS_PY_{PKG,NAME,ARGS} as https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_tools/launch/hrpsys.launch#L97-L103 (#514)
Add hand_joint_state_publisher.py for 2017/Feb? verison of MoveIt, that strictly requrired all robot states for planning (#519)
Contributors: Kei Okada, Ryosuke Tajima

2.0.0 (2017-08-10)

[ros_bridge.py][startImpedance_315_3] More precise error message. (#502)
- When run by itself, [getImpedanceControllerParam]{.title-ref} command at least finishes, so it's not failing. The error message is a bit misleading about what happened internally in [startImpedance_315_3]{.title-ref} method.
use docker to run tests and add kinetic test (#517 from k-okada/kinetic)
- fix install(CDOE
- use control_msgs is pr2_controllers_msgs is not exists
- test/test-hironx.test: add retry=4
- remove pr2_controller_msgs and use control_msgs
enable to output forcesensor value on simulation (#510)
[qnx dynpick] Add a working setting to start sensor drivers connected via USB hub (#509)
robot_description before staring ROS_Client (RobotCommander) (#511)
clearOfGroup after setTargetPose breaks sequencer (#505)
- [ros_bridge] Set hrpsys version limitation to some methods.
- temporaly workaround utnil https://github.com/fkanehiro/hrpsys-base/pull/1141, send setJointAnglesOfGrup to clear sequencer
- add test to check https://github.com/tork-a/rtmros_nextage/issues/332 situation
Contributors: Isaac I.Y. Saito, Kei Okada

1.1.25 (2017-06-02)

[QNX log fetch] Fix to get it working again.
[QNX log fetch] Add a feature to remove existing .log files on QNX to save disk space. #508
Contributors: Isaac I.Y. Saito

1.1.24 (2017-05-09)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	hrpsys_ros_bridge
	mk
	control_msgs
	roslib
	roslint
	rosbash
	rosbuild
	roslang
	catkin
	moveit_commander
	openni2_launch
	rospy
	tf

System Dependencies

Name
unzip
gnuplot

Dependant Packages

Name	Deps
hironx_moveit_config
rtmros_hironx
nextage_ros_bridge
hironx_rpc_server

Launch files

launch/hironx_kinect.launch
- - publish_tf [default: true]
  - TF_COORD [default: $(arg TF_COORD_XYZ_HIRO014) $(arg TF_COORD_RPY_HIRO014)]
  - depth_registration [default: true]
launch/hironx_ros_bridge.launch
- for real robot
- - nameserver [default: hiro014]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - SIMULATOR_NAME [default: RobotHardware0]
  - corbaport [default: 15005]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - open_rqt_gui [default: true]
  - USE_COLLISIONCHECK [default: false]
  - USE_ROBOTHARDWARE [default: false]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_SERVOCONTROLLER [default: false]
  - USE_ROBOT_POSE_EKF [default: false]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - COLLISIONDETECTOR_INSTANCE_NAME [default: CollisionDetector0]
launch/hironx_ros_bridge_real.launch
- - COLLADA_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/hironx_realrobot_fixedpath.conf]
  - corbaport [default: 15005]
  - MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
  - nameserver [default: hiro]
  - USE_ROBOTHARDWARE [default: true]
  - USE_SERVOCONTROLLER [default: true]
  - USE_IMPEDANCECONTROLLER [default: false]
  - USE_COLLISIONCHECK [default: false]
  - USE_HAND_JOINT_STATE_PUBLISHER [default: true]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - HRPSYS_PY_ARGS [default: --host $(arg nameserver) --port $(arg corbaport) --modelfile $(arg MODEL_FILE) --robot RobotHardware]
  - LAUNCH_HRPSYSPY [default: true]
  - corbaport [default: $(arg corbaport)]
launch/hironx_ros_bridge_simulation.launch
- - GUI [default: true]
  - corbaport [default: 15005]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - CONF_FILE_COLLISIONDETECT [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - DEBUG_HRPSYS [default: false]
  - GUI [default: $(arg GUI)]
  - corbaport [default: $(arg corbaport)]
  - corbaport [default: $(arg corbaport)]
  - open_rqt_gui [default: false]
  - openrtm_args [default: -o "corba.nameservers:localhost:$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:100" -o "logger.file_name:/tmp/rtc%p.log"]
launch/hironx_startup.launch
- - GUI [default: true]
  - LAUNCH_HRPSYSPY [default: true]
  - REALTIME [default: true]
  - PROJECT_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml]
  - MODEL_FILE [default: $(find hironx_ros_bridge)/models/kawada-hironx.dae]
  - CONF_FILE [default: $(find hironx_ros_bridge)/conf/kawada-hironx.conf]
  - SIMULATOR_NAME [default: HiroNX(Robot)0]
  - HRPSYS_PY_PKG [default: hironx_ros_bridge]
  - HRPSYS_PY_NAME [default: hironx.py]
  - corbaport [default: 15005]
  - DEBUG_HRPSYS [default: false]
launch/rviz.launch
- - RVIZ_FIXEDFRAME [default: WAIST]
  - command_args [default: --fixed-frame $(arg RVIZ_FIXEDFRAME) -d $(find hironx_ros_bridge)/launch/hironxo.rviz]
  - debug [default: false]
test/test-hironx-ros-bridge-common.launch
- - corbaport [default: 2809]
  - GUI [default: false]

Messages

No message files found.

Services

No service files found

Plugins

rqt_gui

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

hironx_ros_bridge package from rtmros_hironx repo

ROS Distroindigo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Launch files, testus

Unit tests

Stress tests

Acceptance tests

Config files

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

2.1.1 (2019-02-20)

2.1.0 (2017-09-07)

2.0.0 (2017-08-10)

1.1.25 (2017-06-02)

1.1.24 (2017-05-09)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged hironx_ros_bridge at Robotics Stack Exchange

hironx_ros_bridge package from rtmros_hironx repo

ROS Distroindigo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Launch files, testus

Unit tests

Stress tests

Acceptance tests

Config files

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

2.1.1 (2019-02-20)

2.1.0 (2017-09-07)

2.0.0 (2017-08-10)

1.1.25 (2017-06-02)

1.1.24 (2017-05-09)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged hironx_ros_bridge at Robotics Stack Exchange

hironx_ros_bridge package from rtmros_hironx repo

ROS Distroindigo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Launch files, testus

Unit tests

Stress tests

Acceptance tests

Config files

Changelog for package hironx_ros_bridge

2.2.0 (2020-05-13)

2.1.1 (2019-02-20)

2.1.0 (2017-09-07)

2.0.0 (2017-08-10)

1.1.25 (2017-06-02)

1.1.24 (2017-05-09)

Wiki Tutorials

Package Dependencies

ROS Distro
indigo

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

ROS Distro
indigo

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

ROS Distro
indigo

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

ROS Distro
indigo

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

ROS Distro
indigo

Recent questions tagged `hironx_ros_bridge` at Robotics Stack Exchange

ROS Distro
indigo