No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
|
hrpsys_ros_bridge package from rtmros_common repohrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common |
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
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.
- 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
Examples
hrpsys_ros_bridge/test/test-samplerobot.test
Euslisp Examples
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.
Package Dependencies
System Dependencies
Dependant Packages
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 repohrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common |
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
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.
- 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
Examples
hrpsys_ros_bridge/test/test-samplerobot.test
Euslisp Examples
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.
Package Dependencies
System Dependencies
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 repohrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common |
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
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.
- 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
Examples
hrpsys_ros_bridge/test/test-samplerobot.test
Euslisp Examples
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.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| rtmros_common | github-start-jsk-rtmros_common |
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 repohrpsys_ros_bridge hrpsys_tools openrtm_ros_bridge openrtm_tools rosnode_rtc rtmbuild rtmros_common |
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
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.
- 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
Examples
hrpsys_ros_bridge/test/test-samplerobot.test
Euslisp Examples
CHANGELOG
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Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
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)]