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

Package Summary

Tags No category tags.
Version 1.3.2
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version 1.3.2
Last Updated 2016-04-26
Dev Status DEVELOPED
Released RELEASED

Package Description

hrpsys_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada
  • Isaac Isao Saito

Authors

  • Kei Okada
README

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

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.3.2 (2016-04-26)

  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] HrpsysSeqStateROSBridgeImpl.cpp: sensor->localR is world coords
  • [fix] Modified HrpsysSeqStateROSBridgeImpl to enable virtual force
  • [fix] [rtm-ros-robot-interface.l] add time constant prameter according to upstream idl update
  • [fix] [hrpsys_ros_bridge] Fix genjava problem by adding message_generation as build_depend
  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] [hrpsys_ros_bridge]change D if D from hrpsys is empty
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.py] add test programs to check frame_id of off_xxsensor and ref_xxsensor (#940)
  • [feat] Set /robot/type param according to lower-case robot name such as samplerobot.
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.*] add a test program for init of hcf
  • [feat] fix collision visualization, color of sphere will be purple if collision occur
  • [feat] .travis.yml : add test when old hrpsys-ros-bridge exists (#929)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add check for param existence for def-set-get-param-method to neglect idl mismatch error. Fix indent. (#933)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add reference force updater euslisp methods.
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add object turnaround detector moment version interface.l
  • [feat] Add define controller #887
  • [feat] Add leg limb controller setting.
  • [feat] Add method to define joint trajectory controller by default setting.
  • [feat] Add gopos overwrite and graspless manip mode to all demos
  • [feat] Add example for graspless manip mode and gopos overwrite.
  • [feat] Add euslisp interface for graspless manip mode.
  • [feat] add a set-default-step-time-with-the-same-swing-time method
  • [feat] add time constant prameter according to upstream idl update
  • [feat] Add HrpsysSeqStateROSBridge tf rate test
  • [feat] enable virtual force in HrpsysSeqStateROSBridgeImpl
  • [feat] Enable to set subscription_type for DataPorts from hrpsys_ros_bridge.launch argument. Use new by default to keep backward compatibility.
  • [feat] Add loading of optionalData from seq pattern file.
  • [improve] add more mesage to prevent confusion
  • [improve] Add setting for ReferenceForceUpdater
  • [improve] Reset object turnaround detector's detector total wrench mode as TOTAL_FORCE in force estimation.
  • [improve] Enable to set push_policy and push_rate for DataPorts from hrpsys_ros_bridge.launch argument. Use all and 50.0 by default to keep backward compatibility.
  • [improve] Rename tf extract script for test and add comments for that
  • [improve] add arguments(SIMULATOR_NAME_[ANGLE,VELOCITY,TORQUE]) to hrpsys_ros_bridge.launch, for connecting rtc components other than RobotHardware
  • [improve] add time constant prameter according to u

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • 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]
  • test/test-compile-robot.launch

Plugins

Package Summary

Tags No category tags.
Version 1.3.2
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2016-07-01
Dev Status DEVELOPED
Released RELEASED

Package Description

hrpsys_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada
  • Isaac Isao Saito

Authors

  • Kei Okada
README

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

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.3.2 (2016-04-26)

  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] HrpsysSeqStateROSBridgeImpl.cpp: sensor->localR is world coords
  • [fix] Modified HrpsysSeqStateROSBridgeImpl to enable virtual force
  • [fix] [rtm-ros-robot-interface.l] add time constant prameter according to upstream idl update
  • [fix] [hrpsys_ros_bridge] Fix genjava problem by adding message_generation as build_depend
  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] [hrpsys_ros_bridge]change D if D from hrpsys is empty
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.py] add test programs to check frame_id of off_xxsensor and ref_xxsensor (#940)
  • [feat] Set /robot/type param according to lower-case robot name such as samplerobot.
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.*] add a test program for init of hcf
  • [feat] fix collision visualization, color of sphere will be purple if collision occur
  • [feat] .travis.yml : add test when old hrpsys-ros-bridge exists (#929)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add check for param existence for def-set-get-param-method to neglect idl mismatch error. Fix indent. (#933)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add reference force updater euslisp methods.
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add object turnaround detector moment version interface.l
  • [feat] Add define controller #887
  • [feat] Add leg limb controller setting.
  • [feat] Add method to define joint trajectory controller by default setting.
  • [feat] Add gopos overwrite and graspless manip mode to all demos
  • [feat] Add example for graspless manip mode and gopos overwrite.
  • [feat] Add euslisp interface for graspless manip mode.
  • [feat] add a set-default-step-time-with-the-same-swing-time method
  • [feat] add time constant prameter according to upstream idl update
  • [feat] Add HrpsysSeqStateROSBridge tf rate test
  • [feat] enable virtual force in HrpsysSeqStateROSBridgeImpl
  • [feat] Enable to set subscription_type for DataPorts from hrpsys_ros_bridge.launch argument. Use new by default to keep backward compatibility.
  • [feat] Add loading of optionalData from seq pattern file.
  • [improve] add more mesage to prevent confusion
  • [improve] Add setting for ReferenceForceUpdater
  • [improve] Reset object turnaround detector's detector total wrench mode as TOTAL_FORCE in force estimation.
  • [improve] Enable to set push_policy and push_rate for DataPorts from hrpsys_ros_bridge.launch argument. Use all and 50.0 by default to keep backward compatibility.
  • [improve] Rename tf extract script for test and add comments for that
  • [improve] add arguments(SIMULATOR_NAME_[ANGLE,VELOCITY,TORQUE]) to hrpsys_ros_bridge.launch, for connecting rtc components other than RobotHardware
  • [improve] add time constant prameter according to u

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • 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]
  • test/test-compile-robot.launch

Plugins

Package Summary

Tags No category tags.
Version 1.3.2
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2016-07-01
Dev Status DEVELOPED
Released RELEASED

Package Description

hrpsys_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada
  • Isaac Isao Saito

Authors

  • Kei Okada
README

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

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.3.2 (2016-04-26)

  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] HrpsysSeqStateROSBridgeImpl.cpp: sensor->localR is world coords
  • [fix] Modified HrpsysSeqStateROSBridgeImpl to enable virtual force
  • [fix] [rtm-ros-robot-interface.l] add time constant prameter according to upstream idl update
  • [fix] [hrpsys_ros_bridge] Fix genjava problem by adding message_generation as build_depend
  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] [hrpsys_ros_bridge]change D if D from hrpsys is empty
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.py] add test programs to check frame_id of off_xxsensor and ref_xxsensor (#940)
  • [feat] Set /robot/type param according to lower-case robot name such as samplerobot.
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.*] add a test program for init of hcf
  • [feat] fix collision visualization, color of sphere will be purple if collision occur
  • [feat] .travis.yml : add test when old hrpsys-ros-bridge exists (#929)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add check for param existence for def-set-get-param-method to neglect idl mismatch error. Fix indent. (#933)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add reference force updater euslisp methods.
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add object turnaround detector moment version interface.l
  • [feat] Add define controller #887
  • [feat] Add leg limb controller setting.
  • [feat] Add method to define joint trajectory controller by default setting.
  • [feat] Add gopos overwrite and graspless manip mode to all demos
  • [feat] Add example for graspless manip mode and gopos overwrite.
  • [feat] Add euslisp interface for graspless manip mode.
  • [feat] add a set-default-step-time-with-the-same-swing-time method
  • [feat] add time constant prameter according to upstream idl update
  • [feat] Add HrpsysSeqStateROSBridge tf rate test
  • [feat] enable virtual force in HrpsysSeqStateROSBridgeImpl
  • [feat] Enable to set subscription_type for DataPorts from hrpsys_ros_bridge.launch argument. Use new by default to keep backward compatibility.
  • [feat] Add loading of optionalData from seq pattern file.
  • [improve] add more mesage to prevent confusion
  • [improve] Add setting for ReferenceForceUpdater
  • [improve] Reset object turnaround detector's detector total wrench mode as TOTAL_FORCE in force estimation.
  • [improve] Enable to set push_policy and push_rate for DataPorts from hrpsys_ros_bridge.launch argument. Use all and 50.0 by default to keep backward compatibility.
  • [improve] Rename tf extract script for test and add comments for that
  • [improve] add arguments(SIMULATOR_NAME_[ANGLE,VELOCITY,TORQUE]) to hrpsys_ros_bridge.launch, for connecting rtc components other than RobotHardware
  • [improve] add time constant prameter according to u

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • 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]
  • test/test-compile-robot.launch

Plugins

Package Summary

Tags No category tags.
Version 1.3.2
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/rtmros_common.git
VCS Type git
VCS Version master
Last Updated 2016-07-01
Dev Status DEVELOPED
Released RELEASED

Package Description

hrpsys_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

  • Kei Okada
  • Isaac Isao Saito

Authors

  • Kei Okada
README

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

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.3.2 (2016-04-26)

  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] HrpsysSeqStateROSBridgeImpl.cpp: sensor->localR is world coords
  • [fix] Modified HrpsysSeqStateROSBridgeImpl to enable virtual force
  • [fix] [rtm-ros-robot-interface.l] add time constant prameter according to upstream idl update
  • [fix] [hrpsys_ros_bridge] Fix genjava problem by adding message_generation as build_depend
  • [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
  • [fix] [hrpsys_ros_bridge]change D if D from hrpsys is empty
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.py] add test programs to check frame_id of off_xxsensor and ref_xxsensor (#940)
  • [feat] Set /robot/type param according to lower-case robot name such as samplerobot.
  • [feat] [hrpsys_ros_bridge/test/test-samplerobot.*] add a test program for init of hcf
  • [feat] fix collision visualization, color of sphere will be purple if collision occur
  • [feat] .travis.yml : add test when old hrpsys-ros-bridge exists (#929)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add check for param existence for def-set-get-param-method to neglect idl mismatch error. Fix indent. (#933)
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add reference force updater euslisp methods.
  • [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add object turnaround detector moment version interface.l
  • [feat] Add define controller #887
  • [feat] Add leg limb controller setting.
  • [feat] Add method to define joint trajectory controller by default setting.
  • [feat] Add gopos overwrite and graspless manip mode to all demos
  • [feat] Add example for graspless manip mode and gopos overwrite.
  • [feat] Add euslisp interface for graspless manip mode.
  • [feat] add a set-default-step-time-with-the-same-swing-time method
  • [feat] add time constant prameter according to upstream idl update
  • [feat] Add HrpsysSeqStateROSBridge tf rate test
  • [feat] enable virtual force in HrpsysSeqStateROSBridgeImpl
  • [feat] Enable to set subscription_type for DataPorts from hrpsys_ros_bridge.launch argument. Use new by default to keep backward compatibility.
  • [feat] Add loading of optionalData from seq pattern file.
  • [improve] add more mesage to prevent confusion
  • [improve] Add setting for ReferenceForceUpdater
  • [improve] Reset object turnaround detector's detector total wrench mode as TOTAL_FORCE in force estimation.
  • [improve] Enable to set push_policy and push_rate for DataPorts from hrpsys_ros_bridge.launch argument. Use all and 50.0 by default to keep backward compatibility.
  • [improve] Rename tf extract script for test and add comments for that
  • [improve] add arguments(SIMULATOR_NAME_[ANGLE,VELOCITY,TORQUE]) to hrpsys_ros_bridge.launch, for connecting rtc components other than RobotHardware
  • [improve] add time constant prameter according to u

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/samplerobot_ros_bridge-grxui.launch
  • launch/samplerobot-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/robot_pose_ekf.launch
      • base_link [default: BODY]
  • 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_startup-grxui.launch
      • KILL_SERVERS [default: false]
      • KILL_SERVERS [default: $(arg KILL_SERVERS)]
  • launch/collision_detector.launch
    • launch collision detctor as solo program for rviz display
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • SIMULATOR_NAME [default: RobotHardware0]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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: $(arg SIMULATOR_NAME)]
      • INSTALL_ROBOT_DESCRIPTION [default: true]
      • DEBUG_HRPSYS [default: false]
      • USE_DIAGNOSTICS [default: true]
      • USE_ROBOT_POSE_EKF [default: true]
      • USE_COMMON [default: true]
      • USE_ROBOTHARDWARE [default: false]
      • USE_WALKING [default: false]
      • USE_COLLISIONCHECK [default: true]
      • USE_IMPEDANCECONTROLLER [default: false]
      • USE_GRASPCONTROLLER [default: false]
      • USE_SERVOCONTROLLER [default: false]
      • USE_TORQUECONTROLLER [default: false]
      • USE_SOFTERRORLIMIT [default: true]
      • USE_TORQUEFILTER [default: false]
      • USE_IMAGESENSOR [default: false]
      • USE_EMERGENCYSTOPPER [default: false]
      • USE_REFERENCEFORCEUPDATER [default: false]
      • USE_HRPSYS_PROFILE [default: true]
      • USE_VELOCITY_OUTPUT [default: false]
      • PUBLISH_SENSOR_TF [default: true]
      • nameserver [default: localhost]
      • corbaport [default: 15005]
      • periodic_rate [default: 2000]
      • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
      • openrtm_args [default: -o "corba.nameservers:$(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]
      • OUTPUT [default: screen]
      • ROBOT_TYPE [default: ]
      • USE_ROBOT_TYPE_SETTING [default: false]
  • 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]
  • test/test-compile-robot.launch

Plugins

No version for distro fuerte. Known supported distros are highlighted in the buttons above.
No version for distro electric. Known supported distros are highlighted in the buttons above.
No version for distro diamondback. Known supported distros are highlighted in the buttons above.