ROS index logo ROS Index
  1. Home
  2. Packages
  3. hrpsys
 
No version for distro humble showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

Package symbol

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

Package symbol

hrpsys package from hrpsys repo

hrpsys

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

Package symbol

hrpsys package from hrpsys repo

hrpsys

ROS Distro
hydro

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 315.2.7
License EPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/hrpsys.git
VCS Type git
VCS Version master
Last Updated 2016-04-14
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada
  • Isaac Isao Saito

Authors

  • AIST
  • Fumio Kanehiro
README.md

======================================================================================================================== !! WARNING !! ======================================================================================================================== This repository is deprecated!! Please see hrpsys-base!!

======================================================================================================================== Introduction Build Status ========================================================================================================================

An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.

.. contents::

Test Status

Hydro Build Status

Hydro Test Satus

Groovy Build Status

Groovy Test Satus

For developers

How to release new version

As a 3rd party package to ROS we need some extra chores to release. Discussed here. NOTE for 2 different repositories are involved:

Steps:

  1. Send a pull request to fkanehiro/hrpsys-base to update a tag in CMakeLists.txt. Example. This way community will decide if we’re ready for the next release.
  2. Update start-jsk/hrpsys/Makefile.hrpsys-base BEFORE the subsequent steps (otherwise the automation script below won’t produce a valid result). Example2.
  3. Update start-jsk/hrpsys/CHANGELOG.rst by the following steps.

3-1. Use this script [generate_changelog_upstream_] to copy commit messages from upstream fkanehiro/hrpsys-base. A file should be created under /tmp.

3-2. Summarize commit messages into user-meaningful content (discussion).

3-3. To include updates in ROS repository (start-jsk/hrpsys), add change logs into the one created in 3-2 by following.

 3-3-1. Generate changelog by a command from `catkin`:

 ::

   $ roscd hrpsys
   $ catkin_generate_changelog

 3-3-2. Open a generated/updated `CHANGELOG.rst` file. Then manually merge with the artifact from 3-1.
  1. After here follow the normal release manner: Send pull requests for the change above (step 2 and 3). Update tags and package.xml by using catkin_prepare_release.

Notice that we’re sending pull requests to two different repositories; one is the source upstream repository that isn’t ROS-dependent, another repository is used to release a DEB using ROS infrastructure.

.. _generate_changelog_upstream:

Generate changelog from the upstream

hrpsys consists of resources from two repositories as noted in package.xml. Particularly we need to generate changelog from the upstream repository, which is not covered by a convenient tool in ROS called catkin_generate_changelog (that only takes care of the catkin packages, like start-jsk/hrpsys (where you are now)). For that purpose our custom script create_changelog.sh helps you. To use it:

  1. Clone this repository into your catkin workspace if you haven’t done so:
  $ cd %CATKIN_WORKSPACE% && cd src
  $ git clone https://github.com/start-jsk/hrpsys.git
  1. Run catkin_make.
  $ cd %CATKIN_WORKSPACE%
  $ catkin_make     (this takes minutes depending on your machine power and internet connection)
  $ source devel/setup.bash
  1. Run the command create_changelog.sh:
  $ rosrun hrpsys create_changelog.sh

Documentation of RTCs and examples

Documentation of RTCs and examples

CHANGELOG

Changelog for package hrpsys

315.2.7 (2014-10-15)

  • New feature
  • (AutoBalancer, ImpedanceController) : Enable onDeactivated function for ImpedanceController and AutoBalancer
  • Added getControllerParams method and modified type of Param (struct -> class)
  • Added type check before use conf params
  • Fixation
  • fix for old pcl
  • Improvement
  • (ImpedanceController, AutoBalancer, Stabilizer) : Move to idling mode if stop() and start() are called. This is discussed in https://github.com/fkanehiro/hrpsys-base/issues/215
  • print exception when plugin is not found
  • add document to change timestep
  • (AutoBalancer) : Add time stamp to abc walking data ports and initialize contactStates
  • (GaitGenerator, Ratsmatrix) : Remove unused print functions and update print functions to use Eigen IOFormat
  • (AutoBalancer, ImpedanceController, RemoveForceSensorLinkOffset, Stabilizer) : Update unstable RTCs documentation
  • (hrpsys_config, DataLogger) : Enable to log contactStates as TimedBooleanSeq
  • set compile flag -ffloat-store to 32bit system add message for setting collision_loop
  • removes input dataport "sensorPose" and uses pose in RangeData
  • Connect q and qRef to ThermoEstimator to estimate joint torque from error
  • modify OpenHRP-3.1 path due to ROS-fhs layout, see #128
  • Contributors: Kei Okada, Shunichi Nozawa, Isaac Saito

315.2.6 (2014-09-30)

  • New Feature
  • Adds PointCloudLogViewer, encords the number of points in point cloud. compiles PointCloudLogViewer only with PCL >= 1.7.
  • (Stabilizer) : Add leg inside margin to IDL
  • (KalmanFilter) : Add KalmanFilterParam as struct
  • Better error handling
  • Fix
  • fixes linker error on 12.04amd
  • Partially reverted to handle Python version < 2.6
  • hrpsys_config
  • Add DataLogger logging for servoState port.
  • Add playPattern* methods.
  • (hrpsys_config.py, SequencePlayer, StateHolder) : Add optional data for seq in https://github.com/fkanehiro/hrpsys-base/issues/190
  • Add and connect logger ports for offset force moment and ref force moment
  • I/F improvement
  • Added old style parameter functions to TwoDofController for Stabilizer
  • Modified controller arguments from double valiables to struct parameter.
  • Document update
  • Apply doxygen style, somehow needs exclamation mark (http://stackoverflow.com/questions/7690220/how-to-document-python-function-parameter-types)
  • Doc improved for many components: AverageFilter, ExtractCameraImage, SequencePlayer, HGcontroller, CaptureController, VideoCapture, PCDLoader, SORFilter, RangeNoiseMixer, CaptureController, JpegEncoder, RGB2Gray, PlaneRemover, AverageFilter. AutoBalancer, Stabilizer, KalmanFilter, RemoveForceSensorLinkOffset, ImpedanceController
  • Contributors: Kei Okada, Shunichi Nozawa, Isaac IY Saito

315.2.5 (2014-09-02)

  • Stabilizer:
  • Use force difference control
  • Add data port for Stabilizer root pos and rot debugging
  • (Stabilizer, hrpsys_config.py) Add debug port for Stabilizer compensation
  • Add both foot contact checker and update force z control
  • AutoBalancer:
  • Add data port for swing and support period remain times and connect it between abc and st

File truncated at 100 lines see the full file

Launch files

  • samples/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • samples/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • samples/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • samples/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

Package symbol

hrpsys package from hrpsys repo

hrpsys

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

Package symbol

hrpsys package from hrpsys repo

hrpsys

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

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

hrpsys package from hrpsys repo

hrpsys

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 315.15.0
License EPL
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2025-04-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Additional Links

Maintainers

  • Kei Okada

Authors

  • AIST
  • Fumio Kanehiro
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

  • SequencePlayer
    • Fix bug in CUBICSPLINE mode (#1201)
      • fix bug in CUBICSOLINE mode a[5] -> a5[i]
    • Remove offset while playing patterns (#1191)
      • enable to generate continuous motion from motion patterns
      • enable to fix a link while playing patterns
  • RobotHardware/DataLogger
    • Add data port for TimedRobotState2 #1195 from fkanehiro/add_rstate2_port
      • add an output data port for TimedRobotState2
  • RobotHardware
    • Add servo on delay (#1210)
      • [RobotHardware] add document on servoOnDelay
      • [RobotHardware] add servoOnDelay configuration variable
    • Fix bug in getStatus() (#1197)
      • [RobotHardware] fix a bug in getStatus()
  • DataLogger
    • Add logSplitter (#1198)
      • add logSplitter
  • rtm.py (#1199)
    • [rtm.py] add RTcomponent.getProperties()
  • hrpEC
    • Add missing initialization (#1209)
      • Add missing initialization
    • Detect use-after-free of hrpExecutionContext (#1208)
      • Remove C++11 dependency from previous commit
      • Detect use-after-free of hrpExecutionContext
  • Travis (travis.sh, travis.yaml)
    • Update travis to run hydro/indigo/kinetic (#1194)
      • .travis.sh: remove -j1 -l1 to speed up compile
      • Update .travis.yml
      • run docker without -it
      • disable DEBIAN_FRONTEND, install tzdata before other package https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai
      • .travis.sh: old git does not support -b with tag name
      • export DISTRO
      • skip hydro specific patches
      • use DISTRO
      • use ROS_DISTRO instead of hydro
      • show lsb_release
      • .travis.yml: add hydro/indigo/kinetic: test on .travis.yml
      • apt-get install python2.7
      • install apt-get software-properties-common
      • mkdir tet_results
      • install git,wget,sudo,sed
      • use docker to run test

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual

File truncated at 100 lines see the full file

Launch files

  • launch/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • launch/sample4legrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/sample6dofrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
      • PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
  • launch/samplerobot-drc-testbed.launch
      • GUI [default: true]
      • corbaport [default: 15005]
      • GUI [default: $(arg GUI)]
      • corbaport [default: $(arg corbaport)]
  • launch/samplerobot-terrain-walk.launch
      • MODEL [default: SlopeUpDown]
  • launch/samplerobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONTROLLER_PERIOD [default: 500]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
      • LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]
  • launch/samplespecialjointrobot.launch
      • corbaport [default: 15005]
      • GUI [default: true]
      • CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
      • TORQUE_CONTROL [default: false]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
      • PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
      • JOINT_CONTROLLER [default: HGcontroller]
      • JOINT_CONTROLLER [default: PDcontroller]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange