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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools | |
hironx_rpc_server |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
- Isaac Isao Saito
Authors
- AIST
- Fumio Kanehiro
======================================================================================================================== !! WARNING !! ======================================================================================================================== This repository is deprecated!! Please see hrpsys-base!!
========================================================================================================================
Introduction
========================================================================================================================
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
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:
- 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.
- Update start-jsk/hrpsys/Makefile.hrpsys-base BEFORE the subsequent steps (otherwise the automation script below won’t produce a valid result). Example2.
- 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.
- After here follow the normal release manner: Send pull requests for the change above (step 2 and 3). Update tags and
package.xml
by usingcatkin_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:
- 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
- Run
catkin_make
.
$ cd %CATKIN_WORKSPACE%
$ catkin_make (this takes minutes depending on your machine power and internet connection)
$ source devel/setup.bash
- Run the command
create_changelog.sh
:
$ rosrun hrpsys create_changelog.sh
Documentation of RTCs and examples
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
Wiki Tutorials
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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
Services
Plugins
Recent questions tagged hrpsys at Robotics Stack Exchange
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 |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
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 for package hrpsys
315.15.0 (2017-10-22)
Stable RTCs
- SequencePlayer
- RobotHardware/DataLogger
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- add an output data port for TimedRobotState2
- Add data port for TimedRobotState2
#1195
from fkanehiro/add_rstate2_port
- RobotHardware
- DataLogger
- Add logSplitter
(#1198)
- add logSplitter
- Add logSplitter
(#1198)
- rtm.py
(#1199)
- [rtm.py] add RTcomponent.getProperties()
- hrpEC
- 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
- Update travis to run hydro/indigo/kinetic
(#1194)
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
- Add is_hold_value flag writing
(#1213)
- 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
- Update calculation of foot origin ext moment
(#1203)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hrpsys_ros_bridge | |
hrpsys_tools |
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]