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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

Package symbol

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

Package symbol

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

Package symbol

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
hydro

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

Package symbol

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

Package symbol

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

hrpsys_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange

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

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2023-08-04
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_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

hrpsys_ros_bridge is a package to connect hrpsys <http://wiki.ros.org/hrpsys>_ (OpenRTM-based controller) system and ROS system.

This package contains ROSBridge to hrpsys, cmake_libraries, launch files, Euslisp interface, and examples.

ROSBridge

ROSBridge here is a ROS node to bridge hrpsys system and ROS system.

You might want to check other "bridging" software in ROS too such as:

- `rosbridge_suite <http://wiki.ros.org/rosbridge_suite>`_ provides a JSON API to ROS functionality for non-ROS programs.
- `rtmbuild <http://wiki.ros.org/rtmbuild?distro=hydro>`_ Provides a ROS-like compile and launch script for `OpenRTM`.

You can use OpenRTM resources from ROS interface, e.g., use OpenRTM Data Ports through ROS Topic and OpenRTM Servie Ports through ROS Service. The following table shows the corresponding concepts for the 2 worlds.

\ ROS OpenRTM
Process ROS Node RTC
Data connection Topic Data Port
RPC connection Service Service Port

  • HrpsysSeqStateROSBridge :
    Publish ROS topics by reading RTC’s data ports.

    Send ROS JointTrajectory service to SequencePlayer.rtc by its service ports.

  1. Generated ROSBridges:

    openrtm_ros_bridge is the ROS bridge for example code in openrtm_aist and hrpsys_ros_bridge provides ROS bridge for hrpsys package.

    These bridges ROS service to OpenRTM service port.

    For example all idl files in hrpsys is coped to hrpsys_ros_bridge/idl/*.idl, and it generates cpp codes in hrpsys_ros_bridge/src_gen/*.cpp and built binaries in hrpsys_ros_bridge/[bin,lib].

cmake libraries

[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake) is a CMake file to convert robot model file format.

launch files

[hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch) is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

[Euslisp Interface] (https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/euslisp/README.md)

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

  • Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
    • Fix swapping of clear and clearJointAngles
    • Add comments to clarify when stopping motion is executed
    • Tell getting new goal from cancel
    • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
    • add more debug info for #765
    • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
    • add code to get hrpsys rtc version, thakns to \@n-ando
    • Add two points trajectory to test of joint trajectory action cancel
    • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
    • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
    • Add test for joint trajectory action cancel overwrite with samplerobot
    • Add test for joint trajectory action goal overwrite with PA10
    • Add test for joint trajectory action cancel with PA10
  • [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
    • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
    • [hrpsys_ros_bridge] Add test of joint_states/velocity
  • [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
  • [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
    • add method :set-ref-force-moment to rtm-ros-robot-interface class
    • [hrpsys_ros_bridge] Add test of :set-ref-force-moment
  • Remove all ros::object slots in def-set-get-param-method (#1060)
  • Set time_from_start to feedback of joint trajectory action with tests (#1073)
    • prev_traj_tm -> traj_start_tm
    • Stop feedback when trajectory is completed
    • Set time_from_start to feedback of joint trajectory action
    • Add test of feedback from joint trajectory action with samplerobot
    • Add test of feedback from joint trajectory action with PA10
  • Re-enable & fix euslisp test on travis (#1085)
    • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
    • To speed up travis jobs having euslisp tests, stop other tests
  • Try to run multiple hrpsys simulation environments (#1054)
    • add manager port arg in default launch templates
    • re-add omniorb_args for backward compatibility
    • change to use omniorb_args -> openrtm_args
    • support any RTCManager port num
    • update ros bridge launch files
  • [collision_state.py] fix argument of rospy.loginfo ( #1055)
  • fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
    • fix def-set-get-param-method in rtm-ros-robot-interface.l
    • add forgotten argument of string= in the last commit
  • [hrpsys_ros_brdge] fix time-limit for test (#1057)
  • Fix less than one sec (#1042)
    • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
    • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
  • fix typo in stop-rfu-no-wait (#1044)

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/collision_detector%p.log"]
      • MODEL_FILE [default: /opt/jsk/etc/HIRONX/model/main.wrl]
      • CONF_FILE
      • COLLISIONDETECTOR_INSTANCE_NAME [default: co]
      • RUN_COLLISION_STATE [default: true]
  • launch/hrpsys_ros_bridge.launch
      • MODEL_FILE
      • COLLADA_FILE
      • CONF_FILE [default: ]
      • BASE_LINK [default: BODY]
      • SIMULATOR_NAME [default: RobotHardware0]
      • SIMULATOR_NAME_ANGLE [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_VELOCITY [default: $(arg SIMULATOR_NAME)]
      • SIMULATOR_NAME_TORQUE [default: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false] — true: output actual velocity / false: output differential value of actual postition as /joint_states/velocity
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"]
      • subscription_type [default: new]
      • push_policy [default: all]
      • push_rate [default: 50.0]
      • buffer_length [default: 8]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • launch/robot_monitor.launch
      • check_core_temps [default: False]
      • check_ipmi_tool [default: False]
      • check_nfs [default: False]
      • enforce_clock_speed [default: False]
      • num_cores [default: 4]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch
    • =*- mode: xml -*-
      • NOSIM [default: false]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • NOSIM [default: $(arg NOSIM)]
      • GUI [default: $(arg GUI)]
      • RUN_RVIZ [default: $(arg RUN_RVIZ)]
      • corbaport [default: 2809]
      • USE_UNSTABLE_RTC [default: true]
      • USE_EMERGENCYSTOPPER [default: true]
      • USE_REFERENCEFORCEUPDATER [default: true]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: true]
  • test/test-compile-robot.launch
  • test/test-euslisp-without-ros-bridge.launch
    • This test is named *.launch to be excluded from catkin_install_run_tests
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at Robotics Stack Exchange