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hrpsys package from hrpsys repo

hrpsys

API Docs
Browse Code

Package Summary

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

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2022-12-15
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
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

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

Directories

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

3rdparty

3rd party software installation cmake and settings.

ec

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

python/jython

python/jython files.

lib

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

sample

Sample programs. See Samples.

util

Utilities.

doc

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

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

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

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

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

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual foot origin coords. This is expected not to change the program behavior.
    • Update travis to run hydro/indigo/kinetic (#1194)
      • sample/SampleRobot/samplerobot_stabilizer.py: on hrpsys < 315.5.0 this outputs huge error log message
  • Contributors: Fumio KANEHIRO, Jun Inoue, Kei Okada, Shunichi Nozawa, Yasuhiro Ishiguro

315.14.0 (2017-08-04)

Stable RTCs

  • .gitignore (#1186)
    • [.gitignore] add qpoases directory
  • CMakeLists
    • Update for compile definitions (#1179)
      • CMakeLists.txt : add \" for string REGREX whoen OPENHRP_DEFINITIONS is not set
    • Update compile flags (#1177)
      • CMakeLists.txt : remove -O2 from OPENHRP_DEFINITIONS
  • CollisionDetector
    • Update debug message (#1178)
      • CollisionDetector.cpp: setupVclipModel() : display size of vclip model verts
    • Add service (#1174)
      • add service for collision loop
  • rtm.py
    • Fix (#1183)
      • fix classFromString()
    • Update behavior (#1181)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/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]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

hrpsys package from hrpsys repo

hrpsys

API Docs
Browse Code

Package Summary

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

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2022-12-15
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
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

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

Directories

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

3rdparty

3rd party software installation cmake and settings.

ec

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

python/jython

python/jython files.

lib

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

sample

Sample programs. See Samples.

util

Utilities.

doc

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

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

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

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

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

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual foot origin coords. This is expected not to change the program behavior.
    • Update travis to run hydro/indigo/kinetic (#1194)
      • sample/SampleRobot/samplerobot_stabilizer.py: on hrpsys < 315.5.0 this outputs huge error log message
  • Contributors: Fumio KANEHIRO, Jun Inoue, Kei Okada, Shunichi Nozawa, Yasuhiro Ishiguro

315.14.0 (2017-08-04)

Stable RTCs

  • .gitignore (#1186)
    • [.gitignore] add qpoases directory
  • CMakeLists
    • Update for compile definitions (#1179)
      • CMakeLists.txt : add \" for string REGREX whoen OPENHRP_DEFINITIONS is not set
    • Update compile flags (#1177)
      • CMakeLists.txt : remove -O2 from OPENHRP_DEFINITIONS
  • CollisionDetector
    • Update debug message (#1178)
      • CollisionDetector.cpp: setupVclipModel() : display size of vclip model verts
    • Add service (#1174)
      • add service for collision loop
  • rtm.py
    • Fix (#1183)
      • fix classFromString()
    • Update behavior (#1181)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/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]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

hrpsys package from hrpsys repo

hrpsys

API Docs
Browse Code

Package Summary

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

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2022-12-15
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
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

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

Directories

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

3rdparty

3rd party software installation cmake and settings.

ec

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

python/jython

python/jython files.

lib

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

sample

Sample programs. See Samples.

util

Utilities.

doc

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

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

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

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

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

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual foot origin coords. This is expected not to change the program behavior.
    • Update travis to run hydro/indigo/kinetic (#1194)
      • sample/SampleRobot/samplerobot_stabilizer.py: on hrpsys < 315.5.0 this outputs huge error log message
  • Contributors: Fumio KANEHIRO, Jun Inoue, Kei Okada, Shunichi Nozawa, Yasuhiro Ishiguro

315.14.0 (2017-08-04)

Stable RTCs

  • .gitignore (#1186)
    • [.gitignore] add qpoases directory
  • CMakeLists
    • Update for compile definitions (#1179)
      • CMakeLists.txt : add \" for string REGREX whoen OPENHRP_DEFINITIONS is not set
    • Update compile flags (#1177)
      • CMakeLists.txt : remove -O2 from OPENHRP_DEFINITIONS
  • CollisionDetector
    • Update debug message (#1178)
      • CollisionDetector.cpp: setupVclipModel() : display size of vclip model verts
    • Add service (#1174)
      • add service for collision loop
  • rtm.py
    • Fix (#1183)
      • fix classFromString()
    • Update behavior (#1181)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/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]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange

hrpsys package from hrpsys repo

hrpsys

API Docs
Browse Code

Package Summary

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

Repository Summary

Checkout URI https://github.com/fkanehiro/hrpsys-base.git
VCS Type git
VCS Version master
Last Updated 2022-12-15
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
README.md

Build Status

Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

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

Directories

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

3rdparty

3rd party software installation cmake and settings.

ec

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

python/jython

python/jython files.

lib

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

sample

Sample programs. See Samples.

util

Utilities.

doc

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

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

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

CHANGELOG

Changelog for package hrpsys

315.15.0 (2017-10-22)

Stable RTCs

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

Unstable RTCs

  • ReferenceForceUpdater
    • Add is_hold_value flag writing (#1213)
      • [rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] Add missing writing of is_hold_value flag
    • Update rfu functions (#1212)
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Enable to set transition time for RFU
      • [idl/ReferenceForceUpdaterService.idl, rtc/ReferenceForceUpdater] Add no-wait version functions
  • AccelerationChecker (#1205)
    • remove a newline
    • check joint command acceleration only when servo is on
  • AutoBalancer (#1203)
    • [rtc/AutoBalancer/AutoBalancer.cpp] Update for MODE_REF_FORCE_RFU_EXT_MOMENT. Separate MODE_REF_FORCE_RFU_EXT_MOMENT from other UseForceMode.
  • CameraImageSaver : Add new component (#1200)
    • add bindParameter()
    • add a new component, CameraImageSaver
  • CameraImageViewer : Support RTC::CameraImage (#1196)
    • [CameraImageViewer] support RTC::CameraImage
  • Stabilizer
    • Update calculation of foot origin ext moment (#1203)
      • [rtc/Stabilizer/Stabilizer.*] Update calculation of diff_foot_origin_ext_moment not to use ZMP and to use foot moment
      • [rtc/Stabilizer/Stabilizer.cpp] Move calculation of actual foot origin coords. This is expected not to change the program behavior.
    • Update travis to run hydro/indigo/kinetic (#1194)
      • sample/SampleRobot/samplerobot_stabilizer.py: on hrpsys < 315.5.0 this outputs huge error log message
  • Contributors: Fumio KANEHIRO, Jun Inoue, Kei Okada, Shunichi Nozawa, Yasuhiro Ishiguro

315.14.0 (2017-08-04)

Stable RTCs

  • .gitignore (#1186)
    • [.gitignore] add qpoases directory
  • CMakeLists
    • Update for compile definitions (#1179)
      • CMakeLists.txt : add \" for string REGREX whoen OPENHRP_DEFINITIONS is not set
    • Update compile flags (#1177)
      • CMakeLists.txt : remove -O2 from OPENHRP_DEFINITIONS
  • CollisionDetector
    • Update debug message (#1178)
      • CollisionDetector.cpp: setupVclipModel() : display size of vclip model verts
    • Add service (#1174)
      • add service for collision loop
  • rtm.py
    • Fix (#1183)
      • fix classFromString()
    • Update behavior (#1181)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/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]
  • launch/pa10.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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/hrp4c.launch
      • corbaport [default: 15005]
      • GUI [default: true]
  • 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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hrpsys at Robotics Stack Exchange