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 | No 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 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
- Update calculation of foot origin ext moment
(#1203)
- 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
- CollisionDetector
- rtm.py
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged hrpsys at answers.ros.org
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 | No 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 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
- Update calculation of foot origin ext moment
(#1203)
- 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
- CollisionDetector
- rtm.py
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged hrpsys at answers.ros.org
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 | No 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 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
- Update calculation of foot origin ext moment
(#1203)
- 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
- CollisionDetector
- rtm.py
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged hrpsys at answers.ros.org
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 | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
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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 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
- Update calculation of foot origin ext moment
(#1203)
- 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
- CollisionDetector
- rtm.py
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
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]