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hrpsys_gazebo_atlas package from rtmros_gazebo repo

eusgazebo hrpsys_gazebo_atlas hrpsys_gazebo_general hrpsys_gazebo_msgs hrp2jsk_moveit_config hrp2jsknt_moveit_config hrp2jsknts_moveit_config hrp2w_moveit_config moveit_eus_ik_plugin samplerobot_moveit_config staro_moveit_config

API Docs
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Package Summary

Tags No category tags.
Version 0.1.12
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_gazebo.git
VCS Type git
VCS Version master
Last Updated 2022-04-25
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

hrpsys_gazebo_atlas

Additional Links

Maintainers

  • Yohei Kakiuchi

Authors

  • Yohei Kakiuchi
README
No README found. See repository README.
CHANGELOG

Changelog for package hrpsys_gazebo_atlas

0.1.12 (2017-01-11)

0.1.11 (2016-08-30)

0.1.10 (2016-03-24)

  • [hrpsys_gazebo_atlas/CMakeLists.txt] add jsk_footstep_msgs to find_package of hrpsys_gazebo_atlas.
  • Remove rosbuild related files
  • modify touchit server for general robot use
  • Contributors: Ryohei Ueda, mmurooka

0.1.9 (2015-06-11)

  • [hrpsys_gazebo_atlas] Do not compile iob if no atlas_description is available
  • [hrpsys_gazebo_atlas] Fix path for catkin build
  • add measured polaris points
  • Contributors: Ryohei Ueda, YoheiKakiuchi

0.1.8 (2015-01-09 12:27)

0.1.7 (2015-01-09 02:30)

0.1.6 (2015-01-08)

  • update polaris
  • fix polaris
  • Do not generate atlas model if no atlas_description is available
  • Contributors: Ryohei Ueda, YoheiKakiuchi

0.1.5 (2014-11-04)

0.1.4 (2014-10-23)

0.1.3 (2014-10-12)

0.1.2 (2014-10-06)

  • add polais xp900 euslisp model
  • Contributors: YoheiKakiuchi

0.1.1 (2014-09-26)

  • fixed atlas v0 endcoords
  • fix real2model
  • include atlas_bringup.launch in launch file for hook hand atlas
  • (catkin.cmake,CMakeLists.txt) : Remove deprecated abc_end_effectors and fix end-effector name (without colon) according to https://github.com/fkanehiro/hrpsys-base/pull/301
  • fix collision mesh of hook hand model
  • added models files for hook hand
  • fixed parameter for walking
  • fix indent
  • set default value of impedance-controller-param
  • added atlas_hrpsys_dashboard script and call it.
  • added sandia-hand-command-publiser.l
  • deleted unnecessary lines and enable dashboard
  • remove unused variables
  • add force-offset file and load that file
  • modify atlas-interface.l for deleted files
  • move euslisp files of touchit
  • move euslisp files of atlas-manipulation
  • delete unnecessary fiels
  • move euslisp files of ladder
  • move euslisp files of utilities
  • move euslisp files of atlas-multi-locomotion
  • move euslisp files of atlas-joint-state-compresser
  • move euslisp files of atlas-vehicle-motion
  • fix stabilizer param
  • fix iob for atlas_v0
  • move atlas setting functions from atlas-**-interface.l to atlas-interface.l
  • modified iob.cpp to support atlas_v0 and atlas_v3
  • added euslisp and launch file for atlas_v0 and atlas_v3
  • added load-ros-manifest for sandia_hand_msgs and atlas_msgs
  • Merge pull request #67 from mmurooka/add_end_effectors_to_hrpsys_conf add end_effectors to conf file
  • added comment about joint order in iob.cpp
  • fix joint index order of atlas in iob.cpp
  • add end_effectors to conf file
  • (hrpsys_gazebo_atlas/launch/atlas_hrpsys_ros_bridge.launchw) set USE_WALKING true, USE_IMPEDANCE_CONTROLLER true, USE_SOFTERRORLIMIT false
  • (hrpsys_gazebo_atlas/catkin.cmake) fix for when hrpsys is installed
  • (hrpsys_gazebo_atlas) add message generation
  • (iob/CMakeLists.txt) use hrpIo_atlas
  • (atlas_client.py) rename AbsoluteForceSensor -> RemoveForceSensorLinkOffset
  • set (launch/atlas_hrpsys_bringup.launch, launch/atlas_hrpsys_ros_bridge.launch) USE_COLLISIONCHECK false
  • (hrpsys_gazebo_atlas) create RobotHardware.so and libhrpIo_atlas.so
  • added hrpsys_gazebo_atlas/REAME.md: instruction for launching
  • deal with both of catkin and rosbuld in atlas_client.py
  • not call resetJointGroup.py when servo on.
  • fixed atlas_client.py for new hrpsys configurator
  • compile_collada_model now create dependency tree automatically, so we don\'t need to make dependency in user-space cmake
  • remove wstool install laser_assembler and check if the directory exists when compile atlas_laser_snapshotter
  • remove hoge/fuga for travis
  • describe comment
  • adding atlas_description
  • remove atlas_description from build dependency
  • add interface to move real robot
  • add rtmros_tutorials
  • modify ik controller in order to use other robot
  • add laser_assembler, but it does not catkinzed in groovy so no effects
  • add baxtere_description for baxtereus
  • update end-effector definition for atlas
  • return true or false from initialize_for_add_sensor
  • use function to initialize in main function
  • find articulated_system with _motion ;; for example, robot0_motion, ....
  • find kmodel id instead of using the string \'kmodel0\'
  • set attribute according to sid of link instead of using name of link
  • changed scripted posture for first door
  • changed foot placement to widen legs in atlas_door_motion_player.lanch
  • bug fix: tf-end-coords function transformation fix
  • changed foot placement in atlas_door_motion_player.lanch
  • display message when move arm was changed
  • adding padkontrol
  • change origin-key to :rarm and :larm atlas-ik-controller.l
  • update image_view name
  • removed output log comments in touchit.
  • add subscriber to change ankle pitch joint angle
  • simplify atlas-nlopt-ik-test.l, it is better for single arm ik problem?
  • small :dif-rot-ration is better ?
  • fix ik threshold bigger than ik mvoe distance
  • fix threshold for ik rotation, and add some log
  • target-coords attitude <- end-coords one, and publish im to rviz
  • display message when menu is selected
  • add tf-end-coords function for update target-coords in condition that rotation-axis = nil
  • add tf-end-coords function for update target-coords in condition that rotation-axis = nil
  • bug fixed in the case of not making viewr window in touchit
  • add publisher to toggle ik mode in padkontrol
  • not make viewer in touchit-server.
  • set use torso nil in ik-controller by default
  • set use torso t in ik-controller by default
  • set rotation axis nil in ik-controller by default
  • deleted debug lines and enable to set negative value for argument.
  • changed range of touchit threshold : [0:100] -> [-1:100]
  • chnaged minimal thre -1 in order to enable cancel. If you set negative thre, touchit is cancelled immediately.
  • changed default value of touch-it-control-proc arguments: axis = nil and ik-type = :arm
  • not set ik-type and axis when calling touch-it-control-proc in order to use default value.
  • changed endcoords for hookhand.
  • added touchit_thre.sh for changing threshold force value of touchit
  • publish touchit threshold with touchpad
  • fix end-coords of hook to end point
  • add hook end-coords and set defalt
  • add atlas_pcl_divider.launch
  • set threshold with arguments in touch-it-util
  • set threshold by topic in touch-it
  • set origin-key to free
  • using grasp frame_id
  • enable to set devided number of touch it by argument
  • changed devied number depending distance between current and dest
  • set rotation axis nil when center sphere was moved
  • changed scale and size in publish-touchit-result
  • added option set-user-pinned for teleport-to
  • added gazebo_atlas_door.launch drc_practice_hook_atlas.launch for door environment simulation
  • set touchit information to the global variable and send angle-vector smoothly
  • send data as feedback from global variable, and set status depending on finished result.
  • added gazebo utility scripts
  • add atlas-door-cheat.l for teleportation
  • diable xterm
  • adding padkontrol
  • fixing padkontrol
  • adding padkontrol
  • adding fc_gazebo.launch
  • move slowly
  • fix angle-vector bow -> bye
  • add atlas-motion-sequence-player.l
  • revert to r6616
  • set end-coords of ik-server
  • enable to set end-coords from client
  • set executable atlas-motion-sequence-player.l
  • update parameters
  • changed position of footplace marker
  • add orbit function
  • add centroid-offset value for toe balance
  • add joint limitation 11 deg for crotch-r joint
  • update footstep parameters
  • move roi-reconfigure-call.l
  • reconfigure relay for ROI
  • add hand roi_viewer
  • added ik parameter for not using null space, which is now comment out.
  • changed log from warning-message to ros-warn
  • adding some steps
  • remove pre-call model2real for safety
  • climb ladder using pull force
  • comment out dummy-ri and wait 10 sec before making ri
  • fix minor bug
  • added ros-warn log in touch-it.l
  • add force sensor tf
  • add foot sensors subscribe
  • pull force constraints add
  • inital commit atlas-ladder-dynamic.l
  • add foot step parameter
  • update color of wrench_string
  • add respawn=true to rotate nodes
  • inital commit atlas-motion-sequence-player
  • lower freshrate
  • add atlas_wrench_string_publiser
  • add atlas-wrench-string-publisher
  • decrese the freshrate
  • set nan in joint state compressed by default and dont publish nan joint
  • fixing name
  • sleep before die
  • adding script
  • adding toggle_mux script and fix name
  • adding mux to lhand and rhand
  • use default robot description
  • add sample
  • set output screen for touchit
  • changed to use ros-warn
  • add sensor tf
  • add door foot in launch file
  • remove :cancel-all-goal of call-touch-it-server
  • fix hand rotate 120 -> 0
  • add rotate fisheye
  • add tf for force sensor
  • fix bugs when joint-names include hand information
  • add rotate value for look-hand functoin
  • fix choosing argument GAZEBO
  • add argument for choosing GAZEBO
  • update
  • move image_gui
  • change image_rect -> image_rect_color
  • use interactive joint by default
  • add second door open motion, switch door-id variable
  • add open-second-door-front in atlas-door.l
  • add atlas_door_motino_plauer.launch
  • chmod a+x 2
  • chmod a+x atlas-door-motion-plauer.l
  • fix bug of sandia hand name
  • add sandia-hand joint state publish
  • remove unused joint gain
  • spacenav can be used when ik-stop mode
  • update to use rotated image
  • fix rotation-axis from goal_id -> seq
  • new atlas-door-motion-player add,
  • head_snap viewer image_rect -> image_rect_color
  • add touch-it server
  • added open-first-door-front
  • add nth-angle-vector function for setting function to angle-vector-list-list
  • adding other joints
  • adding script to align windows
  • remove preview function for touch-it
  • changed scripted pose in atlas-door.l
  • not display info of multisense-sl-compresser
  • adding pointcloud from hands
  • change image_rect -> image_rect_color on head_camera
  • shut you face
  • add move max switching with the result of inverse-kinematiacs
  • divide /atlas/joint_state_compressed to /atlas/~ and /multisense_sl/~
  • add multisense_sl joint state callback
  • change topic name of multisense_sl from /atlas/~ to /multisense_sl/~
  • look at callback add
  • update
  • added look-hand function
  • bug fix for arm only inverse-kinematics
  • add sample code
  • add pre-manip-pose
  • set rotation-axis for call-touch-it-server function
  • add joint-state-subscriber2 for joint feedback from rviz
  • add pose for door
  • remove :draw-objects function in loop of joint-state-subscriber
  • remove look-at function
  • add atlas-drill-motion-paler.l for drill motion plau in angle-vector-player.lk
  • changed standing point for opening door
  • initial commit angle-vector-player.l, please use with eus_gui.py
  • update the parameter of rate
  • adding topic_buffer to force sensor
  • using new parameter
  • adding topic_buffer
  • not display output of topic_buffer_server
  • adding eus_gui
  • adding eus_gui
  • adding eus gui
  • add all_viewer to ocs.launch
  • using ROS namespace
  • remove DEV specification
  • not use index when compress joint state
  • fixing value of delay to be displayed
  • add timer for debug
  • using timer
  • update
  • update actionlib
  • using parameter
  • use JointState instead of JointStateCompressed
  • remove unused functions of atlas-joint-interface-fc/l
  • some bug fix, jsk_interactive/atlas-joint,l -> atlas-ik-controller.l
  • add marker-menu-callback2 for robot-pose reset and stand
  • add atlas interface in fc to move robot
  • added scripted motion for opening door.
  • update for using topic
  • adding parameter for topic_buffer_client to run in topic mode
  • add touchit-target values for touchit ik mode change
  • enable to set axis for touch it server
  • adding atlas ping gui
  • adding ping gui
  • remove stderr output
  • send server :set-lost has bug of undefined variable
  • add publish-touch-result when call-touch-it-server
  • add global variable touchit-reach and touch
  • gui for rosping
  • adding rosping plugin
  • adding gui for rosping
  • update parameters
  • update parameter
  • add call-touch-it-server function
  • add dummy ci and dummy real2model for local touch-it-server
  • update using image
  • move buffer_server to fc
  • add lifetime to touchit result marker
  • publish touchit result text marker
  • make real robot interface in touch it server
  • changed window tile and color depending on topic name
  • changed node name in atlas_touchit_server_ocs.launch
  • add roi image
  • update parameters
  • set topic name with environment variable in touchit_server launch files
  • read environment variable for topic name
  • changed indent in touch-it-util.l
  • add snapshot gui
  • add testing viewer for atlas
  • add comment setting
  • fix parameters
  • some bug fix hogehoge
  • improved touch it
  • add touchit callback
  • adding images
  • update image_transport
  • adding image topics
  • more beautifully
  • add solve-triangel functions and some bug gix
  • add bound chekc for grobal variables
  • update image rotate
  • adding color
  • adding subgraph
  • add fisheye to image_transport
  • rename the file
  • adding pointcloud
  • add joint state topic graph
  • add icons
  • fix path to resetJointGroup.py
  • clearn parameters
  • set debug-view nil, and added try-door-demo function
  • fix variable names
  • solve inverse kinematics in the new configuration for turning valve, use HKU coordinate
  • add resetJointGroup to servo_on/off
  • print collsition log to terminal only when the collision occured
  • add publish-eus-obj function for triangle and foot-step display
  • remove unused function and waist-fix
  • added functions for opening door
  • befrore call :old-reset-manip-pose, check
  • added atlas-door.l
  • fix end-coords because reset-manip-pose are changed
  • fix joint state subscriber, joint staes have joint angles and names
  • using raw pointcloud instead of filtered pointcloud, self_filter is not stable
  • using raw pointcloud
  • using old values
  • fixing topic name
  • using raw pointcloud
  • forget to remap update??
  • fixing namespace
  • rotate 120 deg right hand and drill motion
  • instantiate robot from atlas_client.py
  • move script/hrpsys_cofnig.py to src/hrsys_gazebo_atlas/atlas_client.py
  • adding pcl roi stuff
  • fixing pcl roi stuff
  • pcl concatenater fixing topic name
  • don\'t display info
  • don\'t use script to update topic_buffer_server
  • remove un-used diagnostics data
  • adding PCL configuration for ROI
  • not use robot_description_ocs
  • create ATLASHrpsysConfigurator to resetJointGroup
  • create resetJointGroup()
  • add controller setting for using limb trajectory from lisp interface
  • set default origin-key -> :rarm
  • set robot_description param in atlas_send_tf_ocs
  • remap tf to tf_ocf in ocs
  • set atlas-torso limit 40 -> 10
  • start-ik-server -> start-ik-server and loop-ik-server functions
  • use default robot_description in ocs
  • add torso3 inverse-kinematiacs, only use torso-y
  • inital end-coords cheange to id=1
  • add torso2 mode for ik-server, just move x y z yaw joints of pelvis
  • add ik-stop variable for ik-controller, default value = 0
  • bug fix, defautlt ned-coords, if=0
  • use atlas-end-coords.l in spite of set-end-coords function
  • intial commit atlas-end-coords.l, switch some lim :end-coords
  • delete use_interactive_endcooreds arg in fc.launch
  • comment out ik-controller
  • 3d mouse joint angle -> rviz
  • remap tf topic name used by ik-server
  • rotate hand image to map coords
  • update foot convex every time inverse-kinematics was called
  • set target to correct position when frame changed
  • bug fix: centroid objects geenrate twice
  • recreate foot-convex may add some error of ik
  • fix foot-convex when robot posture move far away from now state
  • delete rviz for endcoords interactive marker
  • use joint state publisher for joint interactive marker
  • remove unused comment functions
  • add realmodel to model function
  • fix coordinate transformation, when pelvis rotation, before version wont be move
  • fix target-coords of ik-server from pelvis
  • add respawn for ik-server
  • enable dual-arm-ik, but not good
  • transformation fix in local world coordinate
  • change node name of im-marker
  • ik-server enable to set constrains parameter, for now, parameter will be sent with s-string
  • fix some cooridnates bugs
  • add method to publish joint-states
  • fix interactive marker pose
  • bug fix, mouse-mode check before mouse-mode update
  • add real-robot objects for real angle-vector update
  • skip 3d mouse, whne mouse-mode nil
  • add main-loop function demo-pos-conttoller2
  • update parameters
  • fix bag and indent
  • fix and add some variable names
  • fix global variable name -> **
  • add function to set marker position
  • add function to get tf from map to robot
  • add method to set origin
  • publish arrow marker to see origin and target
  • add some message for interactive marker connection
  • adding pcl concatenater
  • fixing params
  • add interactive mareker callback
  • fix some parameter like move step on dmeo-pos-controller
  • add fix-limb-coords valiable for error summatino
  • concatenate pointclouds
  • deom-pos-controller fix, coordination fix
  • add atals-eus-ik.l node
  • add script to all rtm/ros programs
  • update reset manip pose
  • add arrow object for target-coords visualize
  • large window irtviewer
  • do not launch hrpsys_dashboard
  • forge tto add USE_DIAGNOSTICS
  • disable pose button
  • mv obsolated launch files to old.launch
  • add diagnostics for atlas_hrpsys
  • adding new image
  • adding image_transport
  • add checking existing force
  • update joystick device file
  • to reduce sumation of error, solve inverse-kinematics for both legs after ik-service-call
  • remove USE_CONTROLLER arg
  • fix typo
  • remove node
  • update parameters
  • renaming file
  • removing file
  • updating stuff
  • remove unused functions and some bug fix about function references
  • rename file
  • rename fileatlas_ik.launch
  • adding two launch file for narrowband
  • solve inverse kinematics comunicating with ik-server
  • divide tf-related launch file
  • delete specific_transform_publisher in CMakeLists
  • adding triangle gui
  • adding triangle gui
  • fix bag : send marker tf to ocs
  • send marker tf to ocs
  • add servo on/off scripts
  • successufully call ik-server and get angle-vector, look like correct
  • fix for head-less mode
  • set OUTPUT to screen
  • bug fix, quotanion caluculation fix
  • segmentatino fault fix when non normalized quotanion detected
  • fix typo and use use_cache, instaed of ~use_cache
  • fix topic name - -> _
  • move specific_transform_publisher and subscriber to jsk_topic_tools
  • any option for inverse-kinematics can be used
  • fix pelvis coords as foot coords to orgin, because fullbody ik is supported and the center of gravity is no the support plane
  • add start hrpsys_atlas_dashboard
  • use atlas_hrpsys.launch
  • do not subscribe diagnostics/rosout, send go_actual for all mode buttons
  • add rh.q to logger
  • publish joint state compressed to move real robot
  • publish joint state to visualize the result of ik
  • initial commit atlas-ik-controller.l, for now, just the same as atlas-dual-arm-ik.l
  • add filtered force sensor
  • set additional gain for shoulder joints, but ik fail with strange points
  • remove unused functions and comment, normal-ik -> normal-ik-with-collisoin
  • publish tf from map to pelvis when using gazebo
  • change for using topic_buffer
  • add hrpsys_atlas_dashboard
  • add parameter for using hrpsys-simulation with atlas
  • add using roi image in multisense_sl
  • single arm drill manipulation, base link only move z-directions
  • don\'t use cache when using dynamic_tf_publisher
  • remove inverse kinematics for coordinates settings
  • add header file for specific_transform_subscriber
  • atlas-dual-arm-ik depends on atlas-fullbody-ik.l
  • use dyanmic tf publisher in specific_transform_subscriber
  • use dynamic_tf_publisher launched in ocs
  • divide low bandwidth launch file into two
  • adding comment
  • supporting preempt
  • implementing using touch-it-control-proc
  • loop -> touch-it-control, iterative method -> touch-it-control-proc
  • rename touch-it-control to touch-it-control-proc
  • indent
  • untabify
  • untabify
  • untabify
  • read initial force as offset in touch-it-util.l
  • updating sensor frames
  • fix the orientation and trnaslation of force sensor on the arms
  • added atlas_touchit_server.launch
  • added touch-flag and overwriting stamp of posestampedin touchit.
  • improved touchit loop process
  • add simple-rsd-play function, for animation, and send commnad to robot
  • remove upper point cloud before dividing
  • add demo-hand-climb-ladder function, climbing ladder motion with hans supports
  • move some functions from touch-it-server.l to touch-it-util.l
  • read env and set topic name
  • disable fulutaractive markers in default
  • add spline interpolation, for now, it is related to euslib/demo files
  • fixed typo in touch-it-server.l
  • added touch-it-controll function for using without actionlib
  • added guard of recalling setup-end-coords
  • changed interpolation time in atlas-impedance-calib.l
  • added touch-it-util.l
  • fix a lot of stuff
  • good bye robot_description
  • remove robot_description
  • miracle static walk for climbing ladder
  • added touch-it-server.l touch-it-client.l
  • do not start ik server loop if do-not-start-ik-server is defined.
  • add -hold option to keep window after exit
  • add USE_CONTROLLER to hrpsys_atlas.launch and update Makefile.hrpsys-base to create icon
  • fix to use atlas_v3 model for hrpsys(non-gazebo) simulation
  • some parameter turning, especially, ladder height 30cm -> 30.5cm
  • add demo function, climb ladder animation
  • can solve, but with collision
  • added option for joints version and endcoords version of interactive marker
  • added option for interactive marker
  • include ik_server and set endcoords interactive marker default false
  • add some functions for static climbing
  • added atlas_hrpsys_real.launch file for setting
  • make image smaller and rate high.
  • do not consume alot of cpu
  • changed backgroud color of roseus window.
  • enable to select whether make viewr or not in atlas-init-ex
  • change launch file of interactive_marker
  • add output_frame in divided pointcloud
  • load atlas-impedance-calib.l in atlas-interface.l
  • added atlas-impedance-calib.l
  • add hand interactive marker
  • include msg compresser in atlas_hrpsys.launch
  • add msg compresser for low bandwidth
  • add compresser for joint_states of multisense_sl
  • put together joint states of body and hand
  • added drc-valve.l
  • check self collision in torso ik in the ik server.
  • fixed to use foot-convex of robot posture.
  • added option arguments for fullbody-ik-main
  • add robot_state_publisher for compressed
  • add msg of compressed joint state
  • add compresser and decompresser of joint states
  • added if for interactive joint marker and rviz in atlas_hrpsys.launch
  • adding rviz config
  • updating coloring
  • add sample to visualize divided point cloud
  • changed ik target coords to be far from robot in x direction because target is too near and self collision occurs.
  • generate pcl caller scripts
  • use fullbody-ik-with-collision instead of fullbody-ik in ik-server.
  • added some arguments such as thre, rthre, collision? in ik-main
  • add topic_buffer_server in atlas_pcl_divider
  • add atlas-fullbody-ik.l, it is mostly copy of atls-dual-arm-ik.l, so I should edit atls-dual-arm-ik.l to generalize and use it.
  • add sample program to display pointcloud
  • add script to generate atlas_pcl_divider.launch
  • update weight
  • update to use atlas_v3
  • include mjpeg_server in atlas_imagetransport
  • add the comment for instruction in atlas-dual-arm-ik.l
  • added atlas-valve.l
  • comment out reset-pose in atlas-calibration-pose
  • added init-for-drill-grasp for teleporte in drcsim
  • changed interpolation time in atlas-hrpsys-test.l
  • update sensor parameters
  • fix triangle parameter, 30x15 cm right triangle
  • update end coords offset
  • adding launch file to launch ik server
  • updating for catkin
  • updating to take balancing into account
  • update ik server
  • added atlas-ladder.l and drc_ladder.l
  • adding output=screen
  • updating to support arm, torso and fullbody ik and joint state
  • add atlas-eus-ik-sample.launch, launch atlas-eus-ik server and clinet
  • add atals-eus-ik-client.l, somethings strangee
  • update end coords
  • use quickhull function, and remove gen-foot-convex
  • add additional-wieght-list parameter to atlas-eus-ik.l
  • update
  • use iob.h under /lib/io
  • add my-object function, display robot cog triangel convex and drill
  • add gen-foot-convex methods, generate convex hull of foot, for now, this can be user for only atlas
  • add use-messages and period option in imagetransport
  • single arm ik version commit, when solving ik-main, set target-limb \'(:rarm :rleg :lleg)
  • some parameter tune
  • set include_directory(hrpsys/inlcude) before /opt/ros/DISTRO, use user package before system package, fixed for hrpsys 315.0.0
  • rename resized_imagetransport -> resied_image_transport, if you have problem, please svn up under jsk_visioncommon
  • update endcoords
  • add read_digital_output for hrpsys 315.0.0
  • update end-coords
  • update end-coords
  • reduce crotch-r joint limit -> +-5
  • model fat and collision ik-revert support
  • add collision check to ik-nmain
  • fix init-grasp-pose for collision avoidance
  • atlas-dual-arm-ik.l with new atlas_V3.l, please remove models/atlas_v3.l && make
  • add gen-yaml-rotation function, to generate models/atlas_v3.yaml, end-coords fix
  • changed end-coords config in atlas.yaml and atlas_v3.yaml and remove overwriting of reset-manip-pose in atlas.l
  • update atlas_octomap.launch
  • add atlas_scan_to_cloud_long_range.yaml
  • fix typo
  • adding torso
  • inital commit keyboard-coords-fix.lk
  • adding atlas-eus-ik
  • removing gensrv
  • removing srv
  • add gazebo feedback and solve ik
  • include atlas_joint_marker in atlas_hrpsys.launch
  • bug fix: leg-coords-fix-from-real function
  • add leg-coords-fix-from-real function, feed-back leg coordf from gazebvo
  • reach ground and return to original pose.
  • set option for atlas_web.launch and set false default.
  • add triagle model, just load, and get triangle
  • add demo-function for simulation play
  • adding service for EusIK
  • adding circle to image_view2
  • adding www directory
  • verbosing messages
  • adding output=screen
  • adding atlas_web.launch
  • fix dt for atlas_v3
  • reverted last commit of atlas-interface.l. set with-hand nil in (atlas-init) by default.
  • demo-pose-controller max evaluation 30 -> 1000
  • send angle to real robot when ri exits
  • 3d mouse mode add, when you click 3dmouse buttton, 3d mouse mode will start
  • adding mode line
  • launch file to start atlas triangle ui
  • adding atlas_web.launch, web UI
  • reverted last commit of atlas_laser.launch
  • added (init-for-drill) for drill task
  • added drc_practice_task_6_with_ground_plane.world
  • added drc_practice_task_6_with_ground_plane.launch
  • tmp commit, unstable atlas-dual-arm-controller.l
  • fix topic name
  • implmeneted ros connection
  • adding a script to publish triangle points
  • subscribe triagnlepoints
  • adding triangle point
  • irt movable hogehoge
  • some para tune
  • fullbody-ik overwrite for getting failure value
  • adding another plane detector to detect wall
  • change the value of filter to see the near area
  • fix centroid constraints
  • check if gazebo before find_package
  • hrpsys_gazebo_atlas only support groovy
  • do not generate model when collada_urdf_jsk_patch is not found
  • add depends to collada_urdf_jsk_patch
  • defualt set-user-mode nil
  • do not use rosrun in catkin.xmake
  • depends to collada_urdf_jsk_patch
  • initial commit atlas-dual-arm-controller.l, with spacenav, solve ik
  • added instruction comment for test in atlas-moveit.l
  • update making robot
  • adding a program to detect planes
  • adding sandia_hand_teleop
  • update drcsim launch
  • updating max_range parameter
  • adding a launch file to launch sensor stuff
  • fix for source compile
  • add model compile code
  • add link_directories
  • fix message
  • set USE_VIEW as default true
  • update topic name
  • update topic name
  • use SVN_DIR to set source directory
  • catkinize hrpsys_gazebo_atlas
  • changed package name atlas_utils -> drcsim_gazebo
  • add dot.rosinstall
  • remove hand_controller and bdi_action
  • add atlas_hrpsys_drcsim.launch
  • update parameter
  • initial commit for describing atlas laser pipeline
  • update
  • update laser pipeline
  • update frames
  • update parameters
  • minor changes in atlas-hrpsys-test
  • added collision_pair config in CMakeList.txt
  • add dummy pointcloud publisher and mux to select them
  • added time argument to model2real-safe
  • added reaching hand to the groundfuntion
  • update pose
  • add atlas-pose
  • bug fixed, and removed line of rosbag
  • add start node for laser
  • change hrpsys_rate -> 333
  • add intensity filter
  • update filter parameter
  • added record_rosbag lines to atlas_hrpsys.launch, default is off.
  • added rosbag_record_atlas.sh
  • delete co, and input current angle, to use collisoin detector just for checking in hprsys_conf.py
  • return to reset-manip-pose in test-auto-balancer-balance
  • check if the joint_states are published in iob.cpp
  • add self filter node
  • add self filter setting
  • change dt to 3ms at atlas
  • added atlas-hrpsys-test.l
  • fix joint_trajectory_controller -> follow_joint_trajectory
  • add joint group controller setting
  • added (atlas-balancing-demo) in atlas-hrpsys-demo.l
  • added some test functions for hrpsys test
  • change interporation time 1500 -> 3000 in (model2real)
  • added test functions of hrpsys
  • added draw-real-robot and model2real-safe.
  • update hand model
  • add hrpsys_dashboard to atlas_hrpsys.launch
  • add atlas_hrpsys_loopback.launch simple loopback mode for hrpsys
  • update link names
  • change: default launching trajectory controllers for each limb
  • fix typo
  • added comment line for printing publishing topic.
  • change not publishing command while servo off
  • set ankle kp_velocity 0 in iob; if ankle kp_velocity > 0, atlas blows.
  • add code for treating servo state
  • fix: update to r5733
  • added write_digital_output_with_mask to iob.cpp in hrpsys_gazebo_atlas
  • minor update
  • add sample to atlas-moveit.l
  • do not use compile message at geometry_msgs
  • update simple car model
  • add atlas-moveit.l
  • add trajectory controller configuration
  • set kp_velocity 50 in all joints except for ankle joijnts
  • changed leg gain value in (my-init)
  • added gains to PDgain.sav (v3 has two more fixed joints than old atlas)
  • fix end-coords coordinate when generate eusmodel. fixed configuration in atlas.yaml and atlas_v3.yaml.
  • added (atlas-init-ex) in atlas-util.l : the same function with (my-init)
  • fixed neck joint name
  • added argument error check to (atlas-set-servo-gain-by-torque-limit)
  • changed load atlas model file atlas.l -> atlas_v3.l
  • chnaged default ROBOT_NAME atlas -> atlas_v3
  • removed uncomment unnecessary lines in iob.cpp
  • edited iob.cpp for atlas_v3 : change kp_velocity 100 -> 0, fixed joint_id_real2model array, changed.
  • update iob.cpp for v3
  • update atlas-set-servo-gain-torque-limit for v3
  • convert atlas urdf (not v3 model) in atlas_description; [[ not compatible with old drcsim ]]
  • comment out some packages at groovy and latest drcsim
  • yaml file for atlas_v3
  • add compiling atlas_v3
  • added iob function: write_command_torque and read_actual_velocity
  • add atlas setting for end_effectors
  • bug fix: missing link
  • inital commit altals^nlopt-ik-test.l
  • added walk utility function: start and stop walking keeping autobalancer
  • added function for qual door task
  • bug fixed in atlas-hrpsys-demo.l
  • added atlas-hrpsys-demo.l atlas-manip-obj.l
  • add drc simple vehicle
  • fix compiling for fuerte
  • add hrpsys-ros-bridge test launch for atlas
  • add atlas_hrpsys_ros_bridge and use it from atlas_hrpsys_bringup and atlas_hrpsys_simulation
  • add test for atlas-hrpsys-ros-bridge-test
  • rename hrpsys -> hrpsys_tools
  • fixed some bugs in hrpsys_gazebo_atlas/euslisp/
  • modified README
  • added README for moving atlas with euslisp
  • add configuration for sequencer groups and modify launch for using it
  • fixed bug of hrpsys script and launch in hrpsys_gazebo_atlas
  • fix package name hrpsys_gazebo -> hrpsys_gazebo_atlas
  • fix package name
  • fix package name
  • mv hrpsys_gazebo_atlas/jenkins/ to hrpsys_gazebo_general/
  • re-organize rtmros_common, add openrtm_common, rtmros_tutorials, rtmros_hironx, rtmros_gazebo, openrtm_apps, See Issue 137
  • Contributors: Kei Okada, Masaki Murooka, Ryohei Ueda, Satoshi Iwaishi, Shunichi Nozawa, furuta@jsk.imi.i.u-tokyo.ac.jp, garaemon@gmail.com, kei.okada, mmurooka, murooka@jsk.imi.i.u-tokyo.ac.jp, notheworld@gmail.com, s-noda@jsk.imi.i.u-tokyo.ac.jp, youhei@jsk.imi.i.u-tokyo.ac.jp

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hrpsys_gazebo_atlas package from rtmros_gazebo repo

eusgazebo hrpsys_gazebo_atlas hrpsys_gazebo_general hrpsys_gazebo_msgs hrp2jsk_moveit_config hrp2jsknt_moveit_config hrp2jsknts_moveit_config hrp2w_moveit_config moveit_eus_ik_plugin samplerobot_moveit_config staro_moveit_config

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Package Summary

Tags No category tags.
Version 0.1.12
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_gazebo.git
VCS Type git
VCS Version master
Last Updated 2022-04-25
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

hrpsys_gazebo_atlas

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Maintainers

  • Yohei Kakiuchi

Authors

  • Yohei Kakiuchi
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CHANGELOG

Changelog for package hrpsys_gazebo_atlas

0.1.12 (2017-01-11)

0.1.11 (2016-08-30)

0.1.10 (2016-03-24)

  • [hrpsys_gazebo_atlas/CMakeLists.txt] add jsk_footstep_msgs to find_package of hrpsys_gazebo_atlas.
  • Remove rosbuild related files
  • modify touchit server for general robot use
  • Contributors: Ryohei Ueda, mmurooka

0.1.9 (2015-06-11)

  • [hrpsys_gazebo_atlas] Do not compile iob if no atlas_description is available
  • [hrpsys_gazebo_atlas] Fix path for catkin build
  • add measured polaris points
  • Contributors: Ryohei Ueda, YoheiKakiuchi

0.1.8 (2015-01-09 12:27)

0.1.7 (2015-01-09 02:30)

0.1.6 (2015-01-08)

  • update polaris
  • fix polaris
  • Do not generate atlas model if no atlas_description is available
  • Contributors: Ryohei Ueda, YoheiKakiuchi

0.1.5 (2014-11-04)

0.1.4 (2014-10-23)

0.1.3 (2014-10-12)

0.1.2 (2014-10-06)

  • add polais xp900 euslisp model
  • Contributors: YoheiKakiuchi

0.1.1 (2014-09-26)

  • fixed atlas v0 endcoords
  • fix real2model
  • include atlas_bringup.launch in launch file for hook hand atlas
  • (catkin.cmake,CMakeLists.txt) : Remove deprecated abc_end_effectors and fix end-effector name (without colon) according to https://github.com/fkanehiro/hrpsys-base/pull/301
  • fix collision mesh of hook hand model
  • added models files for hook hand
  • fixed parameter for walking
  • fix indent
  • set default value of impedance-controller-param
  • added atlas_hrpsys_dashboard script and call it.
  • added sandia-hand-command-publiser.l
  • deleted unnecessary lines and enable dashboard
  • remove unused variables
  • add force-offset file and load that file
  • modify atlas-interface.l for deleted files
  • move euslisp files of touchit
  • move euslisp files of atlas-manipulation
  • delete unnecessary fiels
  • move euslisp files of ladder
  • move euslisp files of utilities
  • move euslisp files of atlas-multi-locomotion
  • move euslisp files of atlas-joint-state-compresser
  • move euslisp files of atlas-vehicle-motion
  • fix stabilizer param
  • fix iob for atlas_v0
  • move atlas setting functions from atlas-**-interface.l to atlas-interface.l
  • modified iob.cpp to support atlas_v0 and atlas_v3
  • added euslisp and launch file for atlas_v0 and atlas_v3
  • added load-ros-manifest for sandia_hand_msgs and atlas_msgs
  • Merge pull request #67 from mmurooka/add_end_effectors_to_hrpsys_conf add end_effectors to conf file
  • added comment about joint order in iob.cpp
  • fix joint index order of atlas in iob.cpp
  • add end_effectors to conf file
  • (hrpsys_gazebo_atlas/launch/atlas_hrpsys_ros_bridge.launchw) set USE_WALKING true, USE_IMPEDANCE_CONTROLLER true, USE_SOFTERRORLIMIT false
  • (hrpsys_gazebo_atlas/catkin.cmake) fix for when hrpsys is installed
  • (hrpsys_gazebo_atlas) add message generation
  • (iob/CMakeLists.txt) use hrpIo_atlas
  • (atlas_client.py) rename AbsoluteForceSensor -> RemoveForceSensorLinkOffset
  • set (launch/atlas_hrpsys_bringup.launch, launch/atlas_hrpsys_ros_bridge.launch) USE_COLLISIONCHECK false
  • (hrpsys_gazebo_atlas) create RobotHardware.so and libhrpIo_atlas.so
  • added hrpsys_gazebo_atlas/REAME.md: instruction for launching
  • deal with both of catkin and rosbuld in atlas_client.py
  • not call resetJointGroup.py when servo on.
  • fixed atlas_client.py for new hrpsys configurator
  • compile_collada_model now create dependency tree automatically, so we don\'t need to make dependency in user-space cmake
  • remove wstool install laser_assembler and check if the directory exists when compile atlas_laser_snapshotter
  • remove hoge/fuga for travis
  • describe comment
  • adding atlas_description
  • remove atlas_description from build dependency
  • add interface to move real robot
  • add rtmros_tutorials
  • modify ik controller in order to use other robot
  • add laser_assembler, but it does not catkinzed in groovy so no effects
  • add baxtere_description for baxtereus
  • update end-effector definition for atlas
  • return true or false from initialize_for_add_sensor
  • use function to initialize in main function
  • find articulated_system with _motion ;; for example, robot0_motion, ....
  • find kmodel id instead of using the string \'kmodel0\'
  • set attribute according to sid of link instead of using name of link
  • changed scripted posture for first door
  • changed foot placement to widen legs in atlas_door_motion_player.lanch
  • bug fix: tf-end-coords function transformation fix
  • changed foot placement in atlas_door_motion_player.lanch
  • display message when move arm was changed
  • adding padkontrol
  • change origin-key to :rarm and :larm atlas-ik-controller.l
  • update image_view name
  • removed output log comments in touchit.
  • add subscriber to change ankle pitch joint angle
  • simplify atlas-nlopt-ik-test.l, it is better for single arm ik problem?
  • small :dif-rot-ration is better ?
  • fix ik threshold bigger than ik mvoe distance
  • fix threshold for ik rotation, and add some log
  • target-coords attitude <- end-coords one, and publish im to rviz
  • display message when menu is selected
  • add tf-end-coords function for update target-coords in condition that rotation-axis = nil
  • add tf-end-coords function for update target-coords in condition that rotation-axis = nil
  • bug fixed in the case of not making viewr window in touchit
  • add publisher to toggle ik mode in padkontrol
  • not make viewer in touchit-server.
  • set use torso nil in ik-controller by default
  • set use torso t in ik-controller by default
  • set rotation axis nil in ik-controller by default
  • deleted debug lines and enable to set negative value for argument.
  • changed range of touchit threshold : [0:100] -> [-1:100]
  • chnaged minimal thre -1 in order to enable cancel. If you set negative thre, touchit is cancelled immediately.
  • changed default value of touch-it-control-proc arguments: axis = nil and ik-type = :arm
  • not set ik-type and axis when calling touch-it-control-proc in order to use default value.
  • changed endcoords for hookhand.
  • added touchit_thre.sh for changing threshold force value of touchit
  • publish touchit threshold with touchpad
  • fix end-coords of hook to end point
  • add hook end-coords and set defalt
  • add atlas_pcl_divider.launch
  • set threshold with arguments in touch-it-util
  • set threshold by topic in touch-it
  • set origin-key to free
  • using grasp frame_id
  • enable to set devided number of touch it by argument
  • changed devied number depending distance between current and dest
  • set rotation axis nil when center sphere was moved
  • changed scale and size in publish-touchit-result
  • added option set-user-pinned for teleport-to
  • added gazebo_atlas_door.launch drc_practice_hook_atlas.launch for door environment simulation
  • set touchit information to the global variable and send angle-vector smoothly
  • send data as feedback from global variable, and set status depending on finished result.
  • added gazebo utility scripts
  • add atlas-door-cheat.l for teleportation
  • diable xterm
  • adding padkontrol
  • fixing padkontrol
  • adding padkontrol
  • adding fc_gazebo.launch
  • move slowly
  • fix angle-vector bow -> bye
  • add atlas-motion-sequence-player.l
  • revert to r6616
  • set end-coords of ik-server
  • enable to set end-coords from client
  • set executable atlas-motion-sequence-player.l
  • update parameters
  • changed position of footplace marker
  • add orbit function
  • add centroid-offset value for toe balance
  • add joint limitation 11 deg for crotch-r joint
  • update footstep parameters
  • move roi-reconfigure-call.l
  • reconfigure relay for ROI
  • add hand roi_viewer
  • added ik parameter for not using null space, which is now comment out.
  • changed log from warning-message to ros-warn
  • adding some steps
  • remove pre-call model2real for safety
  • climb ladder using pull force
  • comment out dummy-ri and wait 10 sec before making ri
  • fix minor bug
  • added ros-warn log in touch-it.l
  • add force sensor tf
  • add foot sensors subscribe
  • pull force constraints add
  • inital commit atlas-ladder-dynamic.l
  • add foot step parameter
  • update color of wrench_string
  • add respawn=true to rotate nodes
  • inital commit atlas-motion-sequence-player
  • lower freshrate
  • add atlas_wrench_string_publiser
  • add atlas-wrench-string-publisher
  • decrese the freshrate
  • set nan in joint state compressed by default and dont publish nan joint
  • fixing name
  • sleep before die
  • adding script
  • adding toggle_mux script and fix name
  • adding mux to lhand and rhand
  • use default robot description
  • add sample
  • set output screen for touchit
  • changed to use ros-warn
  • add sensor tf
  • add door foot in launch file
  • remove :cancel-all-goal of call-touch-it-server
  • fix hand rotate 120 -> 0
  • add rotate fisheye
  • add tf for force sensor
  • fix bugs when joint-names include hand information
  • add rotate value for look-hand functoin
  • fix choosing argument GAZEBO
  • add argument for choosing GAZEBO
  • update
  • move image_gui
  • change image_rect -> image_rect_color
  • use interactive joint by default
  • add second door open motion, switch door-id variable
  • add open-second-door-front in atlas-door.l
  • add atlas_door_motino_plauer.launch
  • chmod a+x 2
  • chmod a+x atlas-door-motion-plauer.l
  • fix bug of sandia hand name
  • add sandia-hand joint state publish
  • remove unused joint gain
  • spacenav can be used when ik-stop mode
  • update to use rotated image
  • fix rotation-axis from goal_id -> seq
  • new atlas-door-motion-player add,
  • head_snap viewer image_rect -> image_rect_color
  • add touch-it server
  • added open-first-door-front
  • add nth-angle-vector function for setting function to angle-vector-list-list
  • adding other joints
  • adding script to align windows
  • remove preview function for touch-it
  • changed scripted pose in atlas-door.l
  • not display info of multisense-sl-compresser
  • adding pointcloud from hands
  • change image_rect -> image_rect_color on head_camera
  • shut you face
  • add move max switching with the result of inverse-kinematiacs
  • divide /atlas/joint_state_compressed to /atlas/~ and /multisense_sl/~
  • add multisense_sl joint state callback
  • change topic name of multisense_sl from /atlas/~ to /multisense_sl/~
  • look at callback add
  • update
  • added look-hand function
  • bug fix for arm only inverse-kinematics
  • add sample code
  • add pre-manip-pose
  • set rotation-axis for call-touch-it-server function
  • add joint-state-subscriber2 for joint feedback from rviz
  • add pose for door
  • remove :draw-objects function in loop of joint-state-subscriber
  • remove look-at function
  • add atlas-drill-motion-paler.l for drill motion plau in angle-vector-player.lk
  • changed standing point for opening door
  • initial commit angle-vector-player.l, please use with eus_gui.py
  • update the parameter of rate
  • adding topic_buffer to force sensor
  • using new parameter
  • adding topic_buffer
  • not display output of topic_buffer_server
  • adding eus_gui
  • adding eus_gui
  • adding eus gui
  • add all_viewer to ocs.launch
  • using ROS namespace
  • remove DEV specification
  • not use index when compress joint state
  • fixing value of delay to be displayed
  • add timer for debug
  • using timer
  • update
  • update actionlib
  • using parameter
  • use JointState instead of JointStateCompressed
  • remove unused functions of atlas-joint-interface-fc/l
  • some bug fix, jsk_interactive/atlas-joint,l -> atlas-ik-controller.l
  • add marker-menu-callback2 for robot-pose reset and stand
  • add atlas interface in fc to move robot
  • added scripted motion for opening door.
  • update for using topic
  • adding parameter for topic_buffer_client to run in topic mode
  • add touchit-target values for touchit ik mode change
  • enable to set axis for touch it server
  • adding atlas ping gui
  • adding ping gui
  • remove stderr output
  • send server :set-lost has bug of undefined variable
  • add publish-touch-result when call-touch-it-server
  • add global variable touchit-reach and touch
  • gui for rosping
  • adding rosping plugin
  • adding gui for rosping
  • update parameters
  • update parameter
  • add call-touch-it-server function
  • add dummy ci and dummy real2model for local touch-it-server
  • update using image
  • move buffer_server to fc
  • add lifetime to touchit result marker
  • publish touchit result text marker
  • make real robot interface in touch it server
  • changed window tile and color depending on topic name
  • changed node name in atlas_touchit_server_ocs.launch
  • add roi image
  • update parameters
  • set topic name with environment variable in touchit_server launch files
  • read environment variable for topic name
  • changed indent in touch-it-util.l
  • add snapshot gui
  • add testing viewer for atlas
  • add comment setting
  • fix parameters
  • some bug fix hogehoge
  • improved touch it
  • add touchit callback
  • adding images
  • update image_transport
  • adding image topics
  • more beautifully
  • add solve-triangel functions and some bug gix
  • add bound chekc for grobal variables
  • update image rotate
  • adding color
  • adding subgraph
  • add fisheye to image_transport
  • rename the file
  • adding pointcloud
  • add joint state topic graph
  • add icons
  • fix path to resetJointGroup.py
  • clearn parameters
  • set debug-view nil, and added try-door-demo function
  • fix variable names
  • solve inverse kinematics in the new configuration for turning valve, use HKU coordinate
  • add resetJointGroup to servo_on/off
  • print collsition log to terminal only when the collision occured
  • add publish-eus-obj function for triangle and foot-step display
  • remove unused function and waist-fix
  • added functions for opening door
  • befrore call :old-reset-manip-pose, check
  • added atlas-door.l
  • fix end-coords because reset-manip-pose are changed
  • fix joint state subscriber, joint staes have joint angles and names
  • using raw pointcloud instead of filtered pointcloud, self_filter is not stable
  • using raw pointcloud
  • using old values
  • fixing topic name
  • using raw pointcloud
  • forget to remap update??
  • fixing namespace
  • rotate 120 deg right hand and drill motion
  • instantiate robot from atlas_client.py
  • move script/hrpsys_cofnig.py to src/hrsys_gazebo_atlas/atlas_client.py
  • adding pcl roi stuff
  • fixing pcl roi stuff
  • pcl concatenater fixing topic name
  • don\'t display info
  • don\'t use script to update topic_buffer_server
  • remove un-used diagnostics data
  • adding PCL configuration for ROI
  • not use robot_description_ocs
  • create ATLASHrpsysConfigurator to resetJointGroup
  • create resetJointGroup()
  • add controller setting for using limb trajectory from lisp interface
  • set default origin-key -> :rarm
  • set robot_description param in atlas_send_tf_ocs
  • remap tf to tf_ocf in ocs
  • set atlas-torso limit 40 -> 10
  • start-ik-server -> start-ik-server and loop-ik-server functions
  • use default robot_description in ocs
  • add torso3 inverse-kinematiacs, only use torso-y
  • inital end-coords cheange to id=1
  • add torso2 mode for ik-server, just move x y z yaw joints of pelvis
  • add ik-stop variable for ik-controller, default value = 0
  • bug fix, defautlt ned-coords, if=0
  • use atlas-end-coords.l in spite of set-end-coords function
  • intial commit atlas-end-coords.l, switch some lim :end-coords
  • delete use_interactive_endcooreds arg in fc.launch
  • comment out ik-controller
  • 3d mouse joint angle -> rviz
  • remap tf topic name used by ik-server
  • rotate hand image to map coords
  • update foot convex every time inverse-kinematics was called
  • set target to correct position when frame changed
  • bug fix: centroid objects geenrate twice
  • recreate foot-convex may add some error of ik
  • fix foot-convex when robot posture move far away from now state
  • delete rviz for endcoords interactive marker
  • use joint state publisher for joint interactive marker
  • remove unused comment functions
  • add realmodel to model function
  • fix coordinate transformation, when pelvis rotation, before version wont be move
  • fix target-coords of ik-server from pelvis
  • add respawn for ik-server
  • enable dual-arm-ik, but not good
  • transformation fix in local world coordinate
  • change node name of im-marker
  • ik-server enable to set constrains parameter, for now, parameter will be sent with s-string
  • fix some cooridnates bugs
  • add method to publish joint-states
  • fix interactive marker pose
  • bug fix, mouse-mode check before mouse-mode update
  • add real-robot objects for real angle-vector update
  • skip 3d mouse, whne mouse-mode nil
  • add main-loop function demo-pos-conttoller2
  • update parameters
  • fix bag and indent
  • fix and add some variable names
  • fix global variable name -> **
  • add function to set marker position
  • add function to get tf from map to robot
  • add method to set origin
  • publish arrow marker to see origin and target
  • add some message for interactive marker connection
  • adding pcl concatenater
  • fixing params
  • add interactive mareker callback
  • fix some parameter like move step on dmeo-pos-controller
  • add fix-limb-coords valiable for error summatino
  • concatenate pointclouds
  • deom-pos-controller fix, coordination fix
  • add atals-eus-ik.l node
  • add script to all rtm/ros programs
  • update reset manip pose
  • add arrow object for target-coords visualize
  • large window irtviewer
  • do not launch hrpsys_dashboard
  • forge tto add USE_DIAGNOSTICS
  • disable pose button
  • mv obsolated launch files to old.launch
  • add diagnostics for atlas_hrpsys
  • adding new image
  • adding image_transport
  • add checking existing force
  • update joystick device file
  • to reduce sumation of error, solve inverse-kinematics for both legs after ik-service-call
  • remove USE_CONTROLLER arg
  • fix typo
  • remove node
  • update parameters
  • renaming file
  • removing file
  • updating stuff
  • remove unused functions and some bug fix about function references
  • rename file
  • rename fileatlas_ik.launch
  • adding two launch file for narrowband
  • solve inverse kinematics comunicating with ik-server
  • divide tf-related launch file
  • delete specific_transform_publisher in CMakeLists
  • adding triangle gui
  • adding triangle gui
  • fix bag : send marker tf to ocs
  • send marker tf to ocs
  • add servo on/off scripts
  • successufully call ik-server and get angle-vector, look like correct
  • fix for head-less mode
  • set OUTPUT to screen
  • bug fix, quotanion caluculation fix
  • segmentatino fault fix when non normalized quotanion detected
  • fix typo and use use_cache, instaed of ~use_cache
  • fix topic name - -> _
  • move specific_transform_publisher and subscriber to jsk_topic_tools
  • any option for inverse-kinematics can be used
  • fix pelvis coords as foot coords to orgin, because fullbody ik is supported and the center of gravity is no the support plane
  • add start hrpsys_atlas_dashboard
  • use atlas_hrpsys.launch
  • do not subscribe diagnostics/rosout, send go_actual for all mode buttons
  • add rh.q to logger
  • publish joint state compressed to move real robot
  • publish joint state to visualize the result of ik
  • initial commit atlas-ik-controller.l, for now, just the same as atlas-dual-arm-ik.l
  • add filtered force sensor
  • set additional gain for shoulder joints, but ik fail with strange points
  • remove unused functions and comment, normal-ik -> normal-ik-with-collisoin
  • publish tf from map to pelvis when using gazebo
  • change for using topic_buffer
  • add hrpsys_atlas_dashboard
  • add parameter for using hrpsys-simulation with atlas
  • add using roi image in multisense_sl
  • single arm drill manipulation, base link only move z-directions
  • don\'t use cache when using dynamic_tf_publisher
  • remove inverse kinematics for coordinates settings
  • add header file for specific_transform_subscriber
  • atlas-dual-arm-ik depends on atlas-fullbody-ik.l
  • use dyanmic tf publisher in specific_transform_subscriber
  • use dynamic_tf_publisher launched in ocs
  • divide low bandwidth launch file into two
  • adding comment
  • supporting preempt
  • implementing using touch-it-control-proc
  • loop -> touch-it-control, iterative method -> touch-it-control-proc
  • rename touch-it-control to touch-it-control-proc
  • indent
  • untabify
  • untabify
  • untabify
  • read initial force as offset in touch-it-util.l
  • updating sensor frames
  • fix the orientation and trnaslation of force sensor on the arms
  • added atlas_touchit_server.launch
  • added touch-flag and overwriting stamp of posestampedin touchit.
  • improved touchit loop process
  • add simple-rsd-play function, for animation, and send commnad to robot
  • remove upper point cloud before dividing
  • add demo-hand-climb-ladder function, climbing ladder motion with hans supports
  • move some functions from touch-it-server.l to touch-it-util.l
  • read env and set topic name
  • disable fulutaractive markers in default
  • add spline interpolation, for now, it is related to euslib/demo files
  • fixed typo in touch-it-server.l
  • added touch-it-controll function for using without actionlib
  • added guard of recalling setup-end-coords
  • changed interpolation time in atlas-impedance-calib.l
  • added touch-it-util.l
  • fix a lot of stuff
  • good bye robot_description
  • remove robot_description
  • miracle static walk for climbing ladder
  • added touch-it-server.l touch-it-client.l
  • do not start ik server loop if do-not-start-ik-server is defined.
  • add -hold option to keep window after exit
  • add USE_CONTROLLER to hrpsys_atlas.launch and update Makefile.hrpsys-base to create icon
  • fix to use atlas_v3 model for hrpsys(non-gazebo) simulation
  • some parameter turning, especially, ladder height 30cm -> 30.5cm
  • add demo function, climb ladder animation
  • can solve, but with collision
  • added option for joints version and endcoords version of interactive marker
  • added option for interactive marker
  • include ik_server and set endcoords interactive marker default false
  • add some functions for static climbing
  • added atlas_hrpsys_real.launch file for setting
  • make image smaller and rate high.
  • do not consume alot of cpu
  • changed backgroud color of roseus window.
  • enable to select whether make viewr or not in atlas-init-ex
  • change launch file of interactive_marker
  • add output_frame in divided pointcloud
  • load atlas-impedance-calib.l in atlas-interface.l
  • added atlas-impedance-calib.l
  • add hand interactive marker
  • include msg compresser in atlas_hrpsys.launch
  • add msg compresser for low bandwidth
  • add compresser for joint_states of multisense_sl
  • put together joint states of body and hand
  • added drc-valve.l
  • check self collision in torso ik in the ik server.
  • fixed to use foot-convex of robot posture.
  • added option arguments for fullbody-ik-main
  • add robot_state_publisher for compressed
  • add msg of compressed joint state
  • add compresser and decompresser of joint states
  • added if for interactive joint marker and rviz in atlas_hrpsys.launch
  • adding rviz config
  • updating coloring
  • add sample to visualize divided point cloud
  • changed ik target coords to be far from robot in x direction because target is too near and self collision occurs.
  • generate pcl caller scripts
  • use fullbody-ik-with-collision instead of fullbody-ik in ik-server.
  • added some arguments such as thre, rthre, collision? in ik-main
  • add topic_buffer_server in atlas_pcl_divider
  • add atlas-fullbody-ik.l, it is mostly copy of atls-dual-arm-ik.l, so I should edit atls-dual-arm-ik.l to generalize and use it.
  • add sample program to display pointcloud
  • add script to generate atlas_pcl_divider.launch
  • update weight
  • update to use atlas_v3
  • include mjpeg_server in atlas_imagetransport
  • add the comment for instruction in atlas-dual-arm-ik.l
  • added atlas-valve.l
  • comment out reset-pose in atlas-calibration-pose
  • added init-for-drill-grasp for teleporte in drcsim
  • changed interpolation time in atlas-hrpsys-test.l
  • update sensor parameters
  • fix triangle parameter, 30x15 cm right triangle
  • update end coords offset
  • adding launch file to launch ik server
  • updating for catkin
  • updating to take balancing into account
  • update ik server
  • added atlas-ladder.l and drc_ladder.l
  • adding output=screen
  • updating to support arm, torso and fullbody ik and joint state
  • add atlas-eus-ik-sample.launch, launch atlas-eus-ik server and clinet
  • add atals-eus-ik-client.l, somethings strangee
  • update end coords
  • use quickhull function, and remove gen-foot-convex
  • add additional-wieght-list parameter to atlas-eus-ik.l
  • update
  • use iob.h under /lib/io
  • add my-object function, display robot cog triangel convex and drill
  • add gen-foot-convex methods, generate convex hull of foot, for now, this can be user for only atlas
  • add use-messages and period option in imagetransport
  • single arm ik version commit, when solving ik-main, set target-limb \'(:rarm :rleg :lleg)
  • some parameter tune
  • set include_directory(hrpsys/inlcude) before /opt/ros/DISTRO, use user package before system package, fixed for hrpsys 315.0.0
  • rename resized_imagetransport -> resied_image_transport, if you have problem, please svn up under jsk_visioncommon
  • update endcoords
  • add read_digital_output for hrpsys 315.0.0
  • update end-coords
  • update end-coords
  • reduce crotch-r joint limit -> +-5
  • model fat and collision ik-revert support
  • add collision check to ik-nmain
  • fix init-grasp-pose for collision avoidance
  • atlas-dual-arm-ik.l with new atlas_V3.l, please remove models/atlas_v3.l && make
  • add gen-yaml-rotation function, to generate models/atlas_v3.yaml, end-coords fix
  • changed end-coords config in atlas.yaml and atlas_v3.yaml and remove overwriting of reset-manip-pose in atlas.l
  • update atlas_octomap.launch
  • add atlas_scan_to_cloud_long_range.yaml
  • fix typo
  • adding torso
  • inital commit keyboard-coords-fix.lk
  • adding atlas-eus-ik
  • removing gensrv
  • removing srv
  • add gazebo feedback and solve ik
  • include atlas_joint_marker in atlas_hrpsys.launch
  • bug fix: leg-coords-fix-from-real function
  • add leg-coords-fix-from-real function, feed-back leg coordf from gazebvo
  • reach ground and return to original pose.
  • set option for atlas_web.launch and set false default.
  • add triagle model, just load, and get triangle
  • add demo-function for simulation play
  • adding service for EusIK
  • adding circle to image_view2
  • adding www directory
  • verbosing messages
  • adding output=screen
  • adding atlas_web.launch
  • fix dt for atlas_v3
  • reverted last commit of atlas-interface.l. set with-hand nil in (atlas-init) by default.
  • demo-pose-controller max evaluation 30 -> 1000
  • send angle to real robot when ri exits
  • 3d mouse mode add, when you click 3dmouse buttton, 3d mouse mode will start
  • adding mode line
  • launch file to start atlas triangle ui
  • adding atlas_web.launch, web UI
  • reverted last commit of atlas_laser.launch
  • added (init-for-drill) for drill task
  • added drc_practice_task_6_with_ground_plane.world
  • added drc_practice_task_6_with_ground_plane.launch
  • tmp commit, unstable atlas-dual-arm-controller.l
  • fix topic name
  • implmeneted ros connection
  • adding a script to publish triangle points
  • subscribe triagnlepoints
  • adding triangle point
  • irt movable hogehoge
  • some para tune
  • fullbody-ik overwrite for getting failure value
  • adding another plane detector to detect wall
  • change the value of filter to see the near area
  • fix centroid constraints
  • check if gazebo before find_package
  • hrpsys_gazebo_atlas only support groovy
  • do not generate model when collada_urdf_jsk_patch is not found
  • add depends to collada_urdf_jsk_patch
  • defualt set-user-mode nil
  • do not use rosrun in catkin.xmake
  • depends to collada_urdf_jsk_patch
  • initial commit atlas-dual-arm-controller.l, with spacenav, solve ik
  • added instruction comment for test in atlas-moveit.l
  • update making robot
  • adding a program to detect planes
  • adding sandia_hand_teleop
  • update drcsim launch
  • updating max_range parameter
  • adding a launch file to launch sensor stuff
  • fix for source compile
  • add model compile code
  • add link_directories
  • fix message
  • set USE_VIEW as default true
  • update topic name
  • update topic name
  • use SVN_DIR to set source directory
  • catkinize hrpsys_gazebo_atlas
  • changed package name atlas_utils -> drcsim_gazebo
  • add dot.rosinstall
  • remove hand_controller and bdi_action
  • add atlas_hrpsys_drcsim.launch
  • update parameter
  • initial commit for describing atlas laser pipeline
  • update
  • update laser pipeline
  • update frames
  • update parameters
  • minor changes in atlas-hrpsys-test
  • added collision_pair config in CMakeList.txt
  • add dummy pointcloud publisher and mux to select them
  • added time argument to model2real-safe
  • added reaching hand to the groundfuntion
  • update pose
  • add atlas-pose
  • bug fixed, and removed line of rosbag
  • add start node for laser
  • change hrpsys_rate -> 333
  • add intensity filter
  • update filter parameter
  • added record_rosbag lines to atlas_hrpsys.launch, default is off.
  • added rosbag_record_atlas.sh
  • delete co, and input current angle, to use collisoin detector just for checking in hprsys_conf.py
  • return to reset-manip-pose in test-auto-balancer-balance
  • check if the joint_states are published in iob.cpp
  • add self filter node
  • add self filter setting
  • change dt to 3ms at atlas
  • added atlas-hrpsys-test.l
  • fix joint_trajectory_controller -> follow_joint_trajectory
  • add joint group controller setting
  • added (atlas-balancing-demo) in atlas-hrpsys-demo.l
  • added some test functions for hrpsys test
  • change interporation time 1500 -> 3000 in (model2real)
  • added test functions of hrpsys
  • added draw-real-robot and model2real-safe.
  • update hand model
  • add hrpsys_dashboard to atlas_hrpsys.launch
  • add atlas_hrpsys_loopback.launch simple loopback mode for hrpsys
  • update link names
  • change: default launching trajectory controllers for each limb
  • fix typo
  • added comment line for printing publishing topic.
  • change not publishing command while servo off
  • set ankle kp_velocity 0 in iob; if ankle kp_velocity > 0, atlas blows.
  • add code for treating servo state
  • fix: update to r5733
  • added write_digital_output_with_mask to iob.cpp in hrpsys_gazebo_atlas
  • minor update
  • add sample to atlas-moveit.l
  • do not use compile message at geometry_msgs
  • update simple car model
  • add atlas-moveit.l
  • add trajectory controller configuration
  • set kp_velocity 50 in all joints except for ankle joijnts
  • changed leg gain value in (my-init)
  • added gains to PDgain.sav (v3 has two more fixed joints than old atlas)
  • fix end-coords coordinate when generate eusmodel. fixed configuration in atlas.yaml and atlas_v3.yaml.
  • added (atlas-init-ex) in atlas-util.l : the same function with (my-init)
  • fixed neck joint name
  • added argument error check to (atlas-set-servo-gain-by-torque-limit)
  • changed load atlas model file atlas.l -> atlas_v3.l
  • chnaged default ROBOT_NAME atlas -> atlas_v3
  • removed uncomment unnecessary lines in iob.cpp
  • edited iob.cpp for atlas_v3 : change kp_velocity 100 -> 0, fixed joint_id_real2model array, changed.
  • update iob.cpp for v3
  • update atlas-set-servo-gain-torque-limit for v3
  • convert atlas urdf (not v3 model) in atlas_description; [[ not compatible with old drcsim ]]
  • comment out some packages at groovy and latest drcsim
  • yaml file for atlas_v3
  • add compiling atlas_v3
  • added iob function: write_command_torque and read_actual_velocity
  • add atlas setting for end_effectors
  • bug fix: missing link
  • inital commit altals^nlopt-ik-test.l
  • added walk utility function: start and stop walking keeping autobalancer
  • added function for qual door task
  • bug fixed in atlas-hrpsys-demo.l
  • added atlas-hrpsys-demo.l atlas-manip-obj.l
  • add drc simple vehicle
  • fix compiling for fuerte
  • add hrpsys-ros-bridge test launch for atlas
  • add atlas_hrpsys_ros_bridge and use it from atlas_hrpsys_bringup and atlas_hrpsys_simulation
  • add test for atlas-hrpsys-ros-bridge-test
  • rename hrpsys -> hrpsys_tools
  • fixed some bugs in hrpsys_gazebo_atlas/euslisp/
  • modified README
  • added README for moving atlas with euslisp
  • add configuration for sequencer groups and modify launch for using it
  • fixed bug of hrpsys script and launch in hrpsys_gazebo_atlas
  • fix package name hrpsys_gazebo -> hrpsys_gazebo_atlas
  • fix package name
  • fix package name
  • mv hrpsys_gazebo_atlas/jenkins/ to hrpsys_gazebo_general/
  • re-organize rtmros_common, add openrtm_common, rtmros_tutorials, rtmros_hironx, rtmros_gazebo, openrtm_apps, See Issue 137
  • Contributors: Kei Okada, Masaki Murooka, Ryohei Ueda, Satoshi Iwaishi, Shunichi Nozawa, furuta@jsk.imi.i.u-tokyo.ac.jp, garaemon@gmail.com, kei.okada, mmurooka, murooka@jsk.imi.i.u-tokyo.ac.jp, notheworld@gmail.com, s-noda@jsk.imi.i.u-tokyo.ac.jp, youhei@jsk.imi.i.u-tokyo.ac.jp

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