Package Summary
| Tags | No category tags. |
| Version | 315.15.0 |
| License | EPL |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/fkanehiro/hrpsys-base.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-05-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
Install
For Install, See INSTALL
API
For API, See API Doc
Samples
For Samples, See Samples
For related informations:
ROS integration with hrpsys-base ROS wiki hrpsys page
Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, "Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop", 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015
Directories
Main directories are here (for more information, please see API Doc):
3rdparty
3rd party software installation cmake and settings.
ec
For execution context implementations for real-time linux used for hrpsys-base software.
python/jython
python/jython files.
lib
Library programs which can be used from outside of hrpsys-base. For example, IO libraries.
sample
Sample programs. See Samples.
util
Utilities.
doc
Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.
idl
IDL files used for each RTC.
launch
ROS related programs.
test
Test codes including python samples and rostest.
rtc
RT-Component implementations. Basically, one directory corresponds to one RT-Component.
Could not convert RST to MD: No such file or directory - pandoc
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/samplerobot-drc-testbed.launch
-
- GUI [default: true]
- corbaport [default: 15005]
- GUI [default: $(arg GUI)]
- corbaport [default: $(arg corbaport)]
- launch/pa10.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- launch/samplerobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONTROLLER_PERIOD [default: 500]
- CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
- LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/samplespecialjointrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/sample6dofrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
- PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
- launch/samplerobot-terrain-walk.launch
-
- MODEL [default: SlopeUpDown]
- launch/sample4legrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/hrp4c.launch
-
- corbaport [default: 15005]
- GUI [default: true]
Messages
Services
Plugins
Recent questions tagged hrpsys at answers.ros.org
Package Summary
| Tags | No category tags. |
| Version | 315.15.0 |
| License | EPL |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/fkanehiro/hrpsys-base.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-05-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
Install
For Install, See INSTALL
API
For API, See API Doc
Samples
For Samples, See Samples
For related informations:
ROS integration with hrpsys-base ROS wiki hrpsys page
Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, "Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop", 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015
Directories
Main directories are here (for more information, please see API Doc):
3rdparty
3rd party software installation cmake and settings.
ec
For execution context implementations for real-time linux used for hrpsys-base software.
python/jython
python/jython files.
lib
Library programs which can be used from outside of hrpsys-base. For example, IO libraries.
sample
Sample programs. See Samples.
util
Utilities.
doc
Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.
idl
IDL files used for each RTC.
launch
ROS related programs.
test
Test codes including python samples and rostest.
rtc
RT-Component implementations. Basically, one directory corresponds to one RT-Component.
Could not convert RST to MD: No such file or directory - pandoc
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/samplerobot-drc-testbed.launch
-
- GUI [default: true]
- corbaport [default: 15005]
- GUI [default: $(arg GUI)]
- corbaport [default: $(arg corbaport)]
- launch/pa10.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- launch/samplerobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONTROLLER_PERIOD [default: 500]
- CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
- LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/samplespecialjointrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/sample6dofrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
- PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
- launch/samplerobot-terrain-walk.launch
-
- MODEL [default: SlopeUpDown]
- launch/sample4legrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/hrp4c.launch
-
- corbaport [default: 15005]
- GUI [default: true]
Messages
Services
Plugins
Recent questions tagged hrpsys at answers.ros.org
Package Summary
| Tags | No category tags. |
| Version | 315.15.0 |
| License | EPL |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/fkanehiro/hrpsys-base.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-05-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- AIST
- Fumio Kanehiro
Install
For Install, See INSTALL
API
For API, See API Doc
Samples
For Samples, See Samples
For related informations:
ROS integration with hrpsys-base ROS wiki hrpsys page
Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, "Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop", 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015
Directories
Main directories are here (for more information, please see API Doc):
3rdparty
3rd party software installation cmake and settings.
ec
For execution context implementations for real-time linux used for hrpsys-base software.
python/jython
python/jython files.
lib
Library programs which can be used from outside of hrpsys-base. For example, IO libraries.
sample
Sample programs. See Samples.
util
Utilities.
doc
Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.
idl
IDL files used for each RTC.
launch
ROS related programs.
test
Test codes including python samples and rostest.
rtc
RT-Component implementations. Basically, one directory corresponds to one RT-Component.
Could not convert RST to MD: No such file or directory - pandoc
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/samplerobot-drc-testbed.launch
-
- GUI [default: true]
- corbaport [default: 15005]
- GUI [default: $(arg GUI)]
- corbaport [default: $(arg corbaport)]
- launch/pa10.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- launch/samplerobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONTROLLER_PERIOD [default: 500]
- CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf]
- LOG_CONF_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/samplespecialjointrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/SampleSpecialJointRobot/SampleSpecialJointRobot.torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/sample6dofrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.conf]
- PROJECT_FILE [default: $(find hrpsys)/share/hrpsys/samples/Sample6dofRobot/Sample6dofRobot.xml]
- launch/samplerobot-terrain-walk.launch
-
- MODEL [default: SlopeUpDown]
- launch/sample4legrobot.launch
-
- corbaport [default: 15005]
- GUI [default: true]
- CONF_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.conf]
- TORQUE_CONTROL [default: false]
- PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.xml]
- PROJECT_FILE [default: $(find hrpsys)/samples/Sample4LegRobot/Sample4LegRobot.torque.xml]
- JOINT_CONTROLLER [default: HGcontroller]
- JOINT_CONTROLLER [default: PDcontroller]
- launch/hrp4c.launch
-
- corbaport [default: 15005]
- GUI [default: true]