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hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.2
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 2018-11-16
Dev Status DEVELOPED
Released RELEASED

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 is a CMake file to convert robot model file format.

launch files

hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

Euslisp Interface

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/test-compile-robot.launch
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]
  • 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]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/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/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at answers.ros.org

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.2
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 2018-11-16
Dev Status DEVELOPED
Released RELEASED

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 is a CMake file to convert robot model file format.

launch files

hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

Euslisp Interface

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/test-compile-robot.launch
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]
  • 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]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/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/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.2
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 2018-11-16
Dev Status DEVELOPED
Released RELEASED

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 is a CMake file to convert robot model file format.

launch files

hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

Euslisp Interface

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/test-compile-robot.launch
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]
  • 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]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/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/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at answers.ros.org

hrpsys_ros_bridge package from rtmros_common repo

hrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.2
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 2018-11-16
Dev Status DEVELOPED
Released RELEASED

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 is a CMake file to convert robot model file format.

launch files

hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch is a launch file to invoke ROSBridges and connect them with RTCs.

Euslisp interface

Euslisp Interface

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

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Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/test-compile-robot.launch
  • test/test-samplerobot-hcf.launch
      • corbaport [default: 2809]
      • GUI [default: false]
      • RUN_RVIZ [default: false]
      • USE_UNSTABLE_RTC [default: true]
  • 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]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_OBJECTCONTACTTURNAROUNDDETECTOR [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • managerport [default: 2810]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(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/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/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]

Messages

Services

Plugins

Recent questions tagged hrpsys_ros_bridge at answers.ros.org