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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

Package Summary

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

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_common.git
VCS Type	git
VCS Version	master
Last Updated	2023-08-04
Dev Status	MAINTAINED
CI status	Latest build history: Mon, 17 Apr 2023 00:13:31 GMT (last 5 of 11 builds) #14 16-Apr-2023 23:44 55 / 55 #13 15-Mar-2023 02:44 55 / 55 #12 17-Oct-2022 04:44 55 / 55 #11 30-Jun-2022 00:44 55 / 55 #10 29-Jun-2022 02:44 55 / 55
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

hrpsys_ros_bridge package provides basic functionalities to bind

Additional Links

Maintainers

Kei Okada

Authors

Kei Okada

hrpsys_ros_bridge/README.md

hrpsys_ros_bridge

Introduction

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

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

ROSBridge

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

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

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

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

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

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

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

Generated ROSBridges:

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

These bridges ROS service to OpenRTM service port.

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

cmake libraries

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

launch files

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

Euslisp interface

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

Examples

hrpsys_ros_bridge/test/test-samplerobot.test

Euslisp Examples

Euslisp example

CHANGELOG

Changelog for package hrpsys_ros_bridge

1.4.3 (2020-04-20)

Adapt README for melodic & fix style of README & fix to run on melodic (#1090)
- [hrpsys_ros_bridge] Prevent collision_state.py from dying on melodic ModelLoader_idl should be accessed from hrpsys module as with https://github.com/fkanehiro/hrpsys-base/blob/315.15.0/python/hrpsys_config.py#L8 and https://github.com/fkanehiro/hrpsys-base/blob/315.15.0/python/hrpsys_config.py#L809. See https://github.com/fkanehiro/hrpsys-base/commit/2dca76137c20856fcee634f5571059bebf7d3094 and https://github.com/fkanehiro/hrpsys-base/commit/a60a34483c5b6cdd02961257b6b7c7410443fc17. Related to https://github.com/fkanehiro/hrpsys-base/issues/145?
use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)
- Fix swapping of clear and clearJointAngles
- Add comments to clarify when stopping motion is executed
- Tell getting new goal from cancel
- setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
- add more debug info for #765
- use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
- add code to get hrpsys rtc version, thakns to \@n-ando
- Add two points trajectory to test of joint trajectory action cancel
- Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
- Add two points trajectory to PA10 test of joint trajectory action goal overwrite
- Add test for joint trajectory action cancel overwrite with samplerobot
- Add test for joint trajectory action goal overwrite with PA10
- Add test for joint trajectory action cancel with PA10
[HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)
- [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
- [hrpsys_ros_bridge] Add test of joint_states/velocity
[rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)
- [hrpsys_ros_bridge] Add test of :motor-extra-data without ros bridge
- [hrpsys_ros_bridge] Rename :motor-extra-data test as *.launch to be excluded from catkin_install_run_tests See https://github.com/start-jsk/rtmros_common/pull/1083#issuecomment-565054164 and https://github.com/start-jsk/rtmros_common/commit/6a881595b6aae3f40d572201bad6bf1a4b5950a
[rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)
- add method :set-ref-force-moment to rtm-ros-robot-interface class
- [hrpsys_ros_bridge] Add test of :set-ref-force-moment
Remove all ros::object slots in def-set-get-param-method (#1060)
Set time_from_start to feedback of joint trajectory action with tests (#1073)
- prev_traj_tm -> traj_start_tm
- Stop feedback when trajectory is completed
- Set time_from_start to feedback of joint trajectory action
- Add test of feedback from joint trajectory action with samplerobot
- Add test of feedback from joint trajectory action with PA10
Re-enable & fix euslisp test on travis (#1085)
- [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
- To speed up travis jobs having euslisp tests, stop other tests
Try to run multiple hrpsys simulation environments (#1054)
- add manager port arg in default launch templates
- re-add omniorb_args for backward compatibility
- change to use omniorb_args -> openrtm_args
- support any RTCManager port num
- update ros bridge launch files
[collision_state.py] fix argument of rospy.loginfo ( #1055)
fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)
- fix def-set-get-param-method in rtm-ros-robot-interface.l
- add forgotten argument of string= in the last commit
[hrpsys_ros_brdge] fix time-limit for test (#1057)
Fix less than one sec (#1042)
- [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
- [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec
fix typo in stop-rfu-no-wait (#1044)
use 2899/2898 for corbaport, since omniorb-nameserver forcestarted nameserver as default port 2809 when they're first installed (#1043)
Update GaitGenerator/ReferenceForceUpdater methods (#1040)
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add method to configure toe heel phase ration automatically in GaitGeneratorParam.
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update method for new ReferenceForceUpdater functionalities (https://github.com/fkanehiro/hrpsys-base/pull/1239).
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add method to print RTCs' parameters in more readable style using print-object.
Add method to print RTCs' parameters in more readable style using print-object. (#1039)
Contributors: Guilherme Affonso, Kei Okada, Naoki Hiraoka, Shintaro Komatsu, Shun Hasegawa, Shunichi Nozawa, Yohei Kakiuchi, Yasuhiro Ishiguro

1.4.2 (2017-12-22)

add test to check #1036 situation (#1038)
duration == 0.0 results unexpected behavior, so force set 0.001 when duration == 0 s set (#1037 )
Contributors: Kei Okada

1.4.1 (2017-10-25)

Update of sensor_ros_bridge_connect.py
- Connect ReferenceForceUpdater's ref_force (#1033)
  - [hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py] connect reference force port to ReferenceForceUpdater or EmergencyStopper if exists.
- Add wait for rmfo and vs (#1029)
  - [hrpsys_ros_bridge, sensor_ros_bridge_connect.py] add wait for initalizinig all components
HrpsysSeqStateROSBridge (#1027)
- [HrpsysSeqStateROSBridge] fix for using virtual force sensor
Update rtm-ros-robot-interface.l (#1030)
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add documentation string for new arguments (set-ref-force-linear-p, return-value-mode)
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add argument to set linear interpolation during increasing force
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to set return value mode
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to get fric coefficient wrench add update print messages
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update otd checking loop for moment. Exit from do-until-key loop immediately when otd detection. Fix valiables for set ref force
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Use euslisp symbol as detector total wrench parameter
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to access detector total wrench as euslisp symbol.
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update otd checking loop. Exit from do-until-key loop immediately when otd detection.
Contributors: MasakiMurooka, Shunichi Nozawa, YoheiKakiuchi

1.4.0 (2017-08-09)

display error message when body->sensor(j, i) is null (#1014)
sensor_ros_bridge_connect.py : add more debug message (#1015)
Update AutoBalancer and ReferenceForceUpdater euslisp method symbols (#1026)
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Supprot :FootOriginExtMoment for RFU methods.
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Support UseForceMode setting as euslisp symbol in :set-auto-balancer-param.
fix code to run both Indido and Kinetic (#1025)
- /test/test-samplerobot-hcf.launch: increase time-limit to 600
- test/{test-samplerobot.py,test-pa10.py} support both pr2_controllers_msgs and controllr_msgs
- src/hrpsys_ros_bridge/hrpsys_dashboard.py: fix for qt5
- add USE_PR2_CONTROLLERS_MSGS definition
- CMakeLists.txt : we do not use pr2_msgs on build time
- CMakeLists.txt : remove code to download wet pr2_controllers_msgs for groovy
Support stride parameter with different length (#1022)
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Support stride_parameter of different length
- [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-auto-balancer.l] Add test to check stride parameter 4 and 6
[HrpsysSeqStateROSBridge] fix stamp of joint_state. add stamp after reading m_rsangle (#1019)
- [HrpsysSeqStateROSBridge] fix stamp of joint_state. add stamp after reading m_rsangle
[HrpsysSeqStateROSBridge] remove subtraction magic number (#1013)
- [HrpsysSeqStateROSBridge] remove subtraction magic number
Support argumen t for setting duration of calibration. For :remove-xx methods, 8.0 by default[s]. For :reset-xx methods, 0.1[s] by default for compatibility (#1011)
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Support argument for setting duration of calibration. For :remove-xx methods, 8.0 by default[s]. For :reset-xx methods, 0.1[s] by default for compatibility
Add new methods for :remove-force-sensor-offset using RMFO (#1010)
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add new methods for :remove-force-sensor-offset using RMFO. Add warning message for deprecated remove-force methods.
Update euslisp hrpsysbase samples (#1009)
- [hrpsys_ros_bridge/test/hrpsys-samples] Add README for Euslisp hrpsys example basically copied from ros wiki (http://wiki.ros.org/rtmros_common/Tutorials/WorkingWithEusLisp)
- [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-carry-object.l] Update carry demo euslisp sample.
- [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-stabilizer.l] Update stabilizer euslisp sample according to hrpsys-base stabilizer sample update.
Fix bug of sample4leg robot end-coords setting for arms. (#1008)
- [hrpsys_ros_bridge/models/sample4legrobot.yaml] Fix bug of sample4legrobot end-coords setting for arms.
Update project generator and refforce (#1007)
- [hrpsys_ros_bridge/euslisp] Update README for openhrp-project-generator
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Fix orientation for openhrp-project-generator
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update for object turnaround detection to use initial ref forces
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update dump function for openhrp project generator. Use openhrp-project-generator in openhrp3 package instead of _gen_project.launch
Add forgotten update for robot.launch (https://github.com/start-jsk/rtmros_common/pull/1004) (#1005)
- [hrpsys_ros_bridge/scripts/default_robot.launch.in] Add forgotten update in https://github.com/start-jsk/rtmros_common/pull/1004. Add USE_XXX of under-development RTCs for robot.launch such as samplerobot.launch to pass arguments to robot_ros_bridge.launch
set USE_UNSTABLE_RTC as not all unstable rtc defiend in hrpsys_config.py, just for basic walking test, other latest development rtc is passed by arg (#1004)
- set USE_UNSTABLE_RTC as not getUnstableRTC defined in hrpsys_config.py, it is for a basic walking test, other latest development rtc is passed by arg from test_samplerobot_euslisp_unittests.launch
- [hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch,hrpsys_ros_bridge/scripts/default_robot_ros_bridge.launch.in,hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l,hrpsys_tools/launch/hrpsys.launch] Update for ObjectTurnaroundDetector RTC. add USE_REFERENCEFORCEUDPATER and USE_OBJECTCONTACTTURNAROUNDDETECTOR.
Contributors: Kei Okada, Shunichi Nozawa, Yohei Kakiuchi

1.3.3 (2017-02-12)

HrpsysSeqStateROSBridge.cpp
- HrpsysSeqStateROSBridge occurs error if number of force sensor is different with size of contact states. fix number of force sensor (#982)
- Revert "[HrpsysSeqStateROSBridge] fix number of force sensor" #984
- Separate offset-removed force sensor data ports from rsforce, which is actual and non-offset-removed data port. Currently rsforce ports -> rsforce ports + offforce ports. (#964)
- Fixed mistake of sensor_link_name, when robot has only virturl force sonsors (#945)
HrpsysJointTrajectoryBridge.cpp
- publish feedback for joint_trajectory_actions (#966)
hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
- Add argument to change buffer length of rtmlaunch connection. Set 8 by default (default setting in openrtm). (#980)
- fix model filename. Enable cache in ModelLoader, filename should be same as in .conf file. (#978)
euslisp
- [rtm-ros-robot-interface.l] refactor torque-controller interface (#994)
- Update sequencefull unit system and arguments (#988)
  - changed arguments of angle-vector-sequence-full see #985
  - [hrpsys-samples/samplerobot-sequence-player.l] Add test for angle-vector-sequence-full (check validity)
  - [rtm-ros-robot-interface.l] Use root-coords and zmp in the abs frame and convert them inside the :angle-vector-sequence-full
  - [rtm-ros-robot-interface.l] Introduce fsensor length for wrench and optionals
  - [rtm-ros-robot-interface.l] Use [mm] and [deg/s] instead of [m] and [rad/s] for vel, pos, and zmp.
  - [rtm-ros-robot-interface.l] Use [deg] instead of [rad] for jpos argument and remove jvs arg.
  - [rtm-ros-robot-interface.l] Use tm as [ms], previously [s].
- [tm-ros-robot-interface.l] Update :reset-force-moment-offset to use :off force/moment vector (#983)
- [tm-ros-robot-interface.l] Added a missing keyword in def-set-get-method for TorqueControllerService. (#972)
- [tm-ros-robot-interface.l] Add euslisp interface for torque controller (#965)
- [datalogger-log-parser.l] Modify unit of cogvel [m] -> [mm] for euslisp (#960)
- [rtm-ros-robot-interface.l] Add get-go-pos-footsteps-sequence in rtm-ros-robot-interface.l and add test (#965)
- [rtm-ros-robot-interface.l] Update frame of wrench. Previously, wrench frame is mismatch with documentation string. Previous : local -> new : world. (#963)
- [rtm-ros-robot-interface.l] Add eefm force moment distribution weight parameter. (#958)
- [rtm-ros-robot-interface.l] add Eus interface of SequencePlayserService_setJointAnglesSequenceFull and add test in test/hrpsys-samples/samplerobot-sequence-player.l (#954)
- [datalogger-log-parser.l] Add sh reference force and support both rpy and 3x3 matrix for WAIST log(#956)
- [rtm-ros-robot-interface.l] update rfu interface for idl changed in https://github.com/fkanehiro/hrpsys-base/pull/1005 (#952)
- [datalogger-log-parser.l] Use joint-list length for datalogger joint angle conversion. (#953)
  - Add simulation actual root coords reading and check for existance of RobotHardware0_servoState in datalogger. Fix setting of simulators' data parser names.
  - Use joint-list length for datalogger joint angle conversion.
- [rtm-ros-robot-interface.l] make directory for log files (#951)
[scripts/default_robot_ros_bridge.launch.in] Add nameserver argument for ros_bridge.launch (#950)
[test/hrpsys-samples/samplerobot-stabilizer.l] Update loadPattern sample because add-optional-data-from-rs-list is included in dump-seq-pattern-file (#959)
Contributors: Ryo Koyama, Kei Okada, Noriaki Takasugi, Ryo Terasawa, Shunichi Nozawa, Yohei Kakiuchi, Yoshimaru Tanaka, Iori Kumagai, Iori Yanokura, Juntaro Tamura

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… #910
[improve] add argument to set periodic time for object turning detection.
[improve] define method to set/get emergency-stopper-paramMerge pull request #865
[improve] Suppress /tf publishing rate by tf_rate using Timer callback in ros.
[improve] Separate updating odometry and imu into functions
[improve] Update st param #894
[improve] add eefm_swing_rot_spring_gain / eefm_swing_pos_spring_gain as st param
[improve] Update joint group and add test for limb controller
[doc] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] In-code documentation improvement
[doc] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Set default documentation string for def-set-get-param-method setter and getter.
[doc] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add argument documentation for :set-xxx methods.
[doc] [hrpsys_ros_bridge/euslisp/README.md,hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update readme and euslisp documentation strings
[doc] default documentation string for def-set-get-param-method setter and getter.
[doc] In-code documentation improvement
Contributors: Eisoku Kuroiwa, Kei Okada, Kentaro Wada, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Yu Ohara, Iori Yanokura

1.3.1 (2015-12-16)

deb release only targeting to indigo
Fix for travis testing
- [hrpsys_ros_bridge/test/test-samplerobot.test] Use joint_states instead of odom to check tf because joint_states is more related with tf and [Hz] printing. than odom #880
- [hrpsys_ros_bridge/test/test-samplerobot.test] Increase hzerror according to https://github.com/start-jsk/rtmros_common/issues/877#issuecomment-164669534. Current worst travis hz seem to be more than 300[Hz], so set 200[Hz] error. #879
- catkin.cmake: use ccache only for CI environment #872
- add depends from AutoBalancerService.hh to StabilizerService.hh #872
- [hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Increase time-limit for autobalancer euslisp test #879
Fasten script excution
- [hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py] Reduce unnecessary waiting for sensor port rosbridge connection. #879
Bug fix
- [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] Initialize prev_odom_acquired flag. #879
Add euslisp new example and update for example conf setting
- [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-stabilizer.l] Add Stabilizer + loadPattern example for euslisp interface. #875
- [hrpsys_ros_bridge/catkin.cmake] Add Sequencer's optionalData setting for sample conf files. #875
Contributors: Kei Okada, Shunichi Nozawa

1.3.0 (2015-12-09)

deb release only targeting to indigo
[.travis.yml, hrpsys_ros_bridge/catkin.cmake] Enable travis euslisp test using USE_DEB=source and reducing make jobs and loads #806
Bug Fixes
- [hrpsys_ros_bridge/euslisp/datalogger-log-parser.l] modify string conversion in RobotHardware0 (for robot name containing '_') #848
- [hrpsys_ros_bridge/euslisp/datalogger-log-parser.l] Add RobotHardware0_servoState data to robot state #853
- [hrpsys_ros_bridge/euslisp/datalogger-log-parser.l] Update unitsysetm conversion of angle-vector (rad->deg, m->mm) #845
- [hrpsys_ros_bridge/catkin.cmake] Fix typo for hrpsys_PREFIX #843
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Return detection mode. #841
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update set force method. Add reset force. #840
- [hrpsys_ros_bridge/catkin.cmake] Update PDgain conf property name #816
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Fix for pos and rot ik thre #803
- [cmake/compile_robot_model.cmake] move location of set variable (compile_all_target) #779
- [src/hrpsys_ros_bridge/hrpsys_dashboard.py] Run event loop for 1 sec after showing splashwindow to force to load image immediately #762
- [euslisp/datalogger-log-parser.l] Warn message if wrong path is specified #767
- [euslisp/datalogger-log-parser.l] Add limb-list first, Add st and abc properties to datalogger log parser #761
/off_xxsensor and /xxsensor
- [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] fix /off_xxsensor frame_id #867
- [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] fix frame_id of off_xxsensor #855
euslisp/rtm-ros-robot-interface.l : add/modify interfaces for new/updated rtc
- [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-auto-balancer.l] Use 4limbs in startAutoBalancer when Groups has rarm and larm and update sample. #866
- add reference remaining_time in /ref_contact_states #857
- Add method of servo-state #853
- Add calc velocity from velocity offset #842
- Add euslisp style argument for leg_default_translate_pos #836
- Add grasp controller interface methods.l #831
- Enable to set optional-data from robot and contact-state #831
- Add optionalData from euslisp rs-list #822
- add stabilizer-end-coords-list #820
- Update setter methods #818
- Add ":set-foot-steps-with-param-and-base-height" method in order to specify footstep with params and base height #811
- update default-zmp-offsets interface according to hrpsys-base change #808
- add an interface for multi legs footsteps #795
- get ref-capture-point from Stabilizer rtco #794
- update AutoBalancerParam according to https://github.com/fkanehiro/hrpsys-base/pull/750 #786
- get cp from Stabilizer rtc #781
- Update footstep methods to enable overwriting #775
- get emergency-mode from robot-interface #772
- Add calculation of sole edge #759
Add PointCloudROSBridge and RangeSensorROSBridge, and modify ImageSensorROSBridge #785
- [src/RangeSensorROSBridge.cpp] add intensity parameter for adding intensities #802
- [src/ImageSensorROSBridge.cpp] fix parsing camera parameter #798
- [src/ImageSensorROSBridge.cpp] fix bug / reset debug counter #797
- [hrpsys_ros_bridge/cmake/compile_robot_model.cmake] Use collada_urdf_jsk_patch in order to convert dae into urdf which can be used in gazebo #793
- [src/ImageSensorROSBridge.cpp] add camera param setter by ros parameter #791
- [src/PointCloudROSBridge.cpp] fix PointCloudROSBridge, color and frame #790
- [src/RangeSensorROSBridge.cpp] fix RangeSensorROSBridge / time_increment is zero #788
- [src/RangeSensorROSBridge.cpp] fix frame of RangeSensor #789
Add rsvel port (#807)
- [src/HrpsysSeqStateROSBridge.cpp, launch/hrpsys_ros_bridge.launch] add rsvel port to HrpSeqStateROSBridge read dq in order to add velocity values to joint_states
- [hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] add USE_VELOCITY_OUTPUT to arguments of rtmlaunch #821
Add ObjectTurnaroundDetector methods #838
- [src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py] Update latest st parameter for torque control
- [euslisp/rtm-ros-robot-interface.l] Add set-ref-force time #838
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add ObjectTurnaroundDetector methods
- [test/hrpsys-samples/samplerobot-carry-object.l] Add carry object euslisp sample #838
SLAM support
- [hrpsys_ros_bridge/src/hrpsys_ros_bridge/hrpsys_dashboard.py] Add MapButton for SLAM and odometry #869
- [src/HrpsysSeqStateROSBridge.cpp] Transform twist from local to global in pose covarance calculation because pose is in global #830
- [src/HrpsysSeqStateROSBridge.cpp] Set root_link as child_frame_id and describe twist in child_frame_id coordinate #828
- [src/HrpsysSeqStateROSBridge.cpp] Fix covariance calculation in HrpsysSeqStateROSBridge: previous verision calculation only can be applied in nonhoronomic robot #812
- [src/HrpsysSeqStateROSBridge.cpp] Fix coordinate representation: omega in twist is global
- [src/HrpsysSeqStateROSBridge.cpp] Calculate covariance of odometry in HrpsysSeqStateROSBridge
- [src/HrpsysSeqStateROSBridge.cpp] update prev_odom only when odom is successfully updated in dt > 0
- [src/HrpsysSeqStateROSBridge.cpp] Calculate angular twist
Special joint support #837
- [models/samplespecialjointrobot.yaml, catkin.cmake] Add cmake setting and euscollada yaml for special joint robot
add ContactState.msg, ContactStateStamped.msg, ContactStatesStamped.msg #834
- [msg/ContactState.msg] Add frame_id to contact states messages
- [launch/hrpsys_ros_bridge.launch, src/HrpsysSeqStateROSBridge{,cpp,.h,Impl.cpp,Impl.h}] separate ContactStates.msg into ContactState.msg, ContactStateStamped.msg and ContactStatesStamped.msg
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add euslisp interface to get contact states
- [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] add contact states publisher of AutoBalancer and Stabilizer
- [msg/ContactState.msg] add ContactStates.msg for legged robots
Sample codes
- [src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py, src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py] set ThermoLimiter parameters to decrease debug messages #849
- [src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py] update sample4legrobot st and abc parameters, set st and abc parameters #847
- [hrpsys_ros_bridge/src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py] Update st vertices setting #819
- [src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py, models/sample4legrobot.yaml, euslisp/sample4legrobot-interface.l, catkin.cmake] Add sample4legrobot generation if exists #817
- [euslisp/sample4legrobot-interface.l] Update path hrpsys_ros_bridge_tutorials -> hrpsys_ros_bridge #817
- [catkin.cmake] Add check for sample_4leg_robot existence #817
- [hrpsys_ros_bridge/src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py] Update st damping parameters #809
- [hrpsys_ros_bridge/catkin.cmake, src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py, test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Enable euslisp unittest for unstable rtcs #806
- [scripts/default*.launch.in,,cmake/compile_robot_model.cmake] Use arguments to specify whether unstable or not #806
- [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-unittest.l, samplerobot-auto-balancer.l] Update auto-balancer test functions and update unittest order #806
- [hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Add collision detector test #805
Move euslisp sample code from roseus_tutorials #800
- [hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Add rostest launch file for euslisp unittest and use .launch instead of .test.
- [hrpsys_ros_bridge/test/hrpsys-samples, hrpsys_ros_bridge/euslisp/samplerobot-interface.l] Fix package name for sample robot euslisp files (hrpsys_ros_bridge_tutorials -> hrpsys_ros_bridge)
Use emergency stopper by default for unstable rtc robots #760
- [hrpsys_ros_bridge/cmake/compile_robot_model.cmake] Use emergency stopper by default for unstable rtc robots
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add method for emergency stop methods
- [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to set rosbridge name for idl srv methods.
- [hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] Add emergency stopper ROSBridges
- [scripts/diagnostics.py] publish diagnostic of emergency_mode from diagnostics.py #780
- [src/HrpsysSeqStateROSBridge{,cpp,.h,Impl.cpp,Impl.h}] publish emergency_mode from EmergencyStopper rtc #763
Contributors: Eisoku Kuroiwa, Kei Okada, Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Tatsuya Ishikawa, Yohei Kakiuchi, Yuta Kojio, Iori Kumagai

1.2.14 (2015-06-23)

[hrpsys_ros_bridge] Add splash screen to hrpsys dashboard
Enable to set step time for each foot steps and update documentation
Add emergency walking stop and update documentations
[hrpsys_ros_bridge] set position of imu_floor zero
Add method to get remaining foot steps and displaying method
[cmake_compile_robot_model.cmake] get_filename_component DIRECTORY is only available > cmake 2.8.12
Publish cop position in end link frame
Publish COP for each end effectors. COPInfo is provided by Stabilizer.
Add --use-robot-hrpsys-config argument to compile robot old (added to compile robot in 54e64bf3c4131fc907c6b7c0a34d728f82948e76)
Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa

1.2.13 (2015-06-11)

[launch/hrpsys_ros_bridge.launch] Add USE_ROBOT_POSE_EKF
[euslisp/rtm-ros-robot-interface.l] fix typo
[euslisp/rtm-ros-robot-interface.l] Add :adjust-foot-steps-roll-pitch to reset current foot steps
[euslisp/rtm-ros-robot-interface.l] Add toe heel angle for :set-foot-steps-with-param-no-wait
[euslisp/rtm-ros-robot-interface.l] Add argument for transition times
[euslisp/rtm-ros-robot-interface.l] Use current foot midcoords of rleg and lleg in roll pitch method
[euslisp/rtm-ros-robot-interface.l] Add adjust footsteps euslisp interface
[euslisp/datalogger-log-parser.l] Add function to dump seq pattern file from datalogger log
[euslisp/rtm-ros-robot-interface.l,uslisp/rtm-ros-robot-interface.l] Add force moment param zerosettin method and use it in calib program
[euslisp/rtm-ros-robot-interface.l] raise error when bridged service call failed
[euslisp/rtm-ros-robot-interface.l] Make interpolation-time in sync-controller shorter
[euslisp/rtm-ros-robot-interface.l] Add :set-foot-steps-with-base-height
[euslisp/rtm-ros-robot-interface.l] Fix typo in start method. Start auto balancer by legs.
[euslisp/rtm-ros-robot-interface.l] Add euslisp methods for default unstable controllers
[src/HrpsysSeqStateROSBridge.cpp] imu_floor again
[src/hrpsys_ros_bridge/hrpsys_dashboard.py] add st/abc/ic start at once button
[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] Enable to specify robot specific hrpsys_config.py
[launch/hrpsys_ros_bridge.launch] Add argument to specify periodic rate of seq ros bridge
[euslisp/rtm-ros-robot-interface.l] add hours, minutes and seconds for :save-log
[.travis.yaml, hrpsys_ros_bridge/catkin.cmake] add eusdoc
[euslisp/rtm-ros-robot-interface.l] Support t or nil in setter arguments
Contributors: Eisoku Kuroiwa, Kei Okada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Iori Kumagai

1.2.12 (2015-04-27)

[euslisp/rtm-ros-robot-interface.l] Update function to calculate toe heel offset. Support both pos and zmp and add documentation
[hrpsys_ros_bridge/cmake/compile_robot_model.cmake] fix for --conf option with comment
Contributors: Kei Okada, Shunichi Nozawa

1.2.11 (2015-04-25)

[catkin.cmake] add depend to pr2_controllers_msgs in catpkin_package
[cmake/compile_robot_model.cmake] fix dependency add_custom_depend need to DEPEND to other target
[euslisp/rtm-ros-robot-interface.l] Add calculate-toe-heel-pos-offsets and set-foot-steps-with-param
Contributors: Kei Okada, Shunichi Nozawa

1.2.10 (2015-04-24)

add rewrited version of compile_robot_model.cmake
- [compile_robot_model.cmake] generate controller_config even if yaml is not found
- [compile_robot_model.cmake] use add_custom_target/command for eusif and launch, set PROJECT_PKG_NAME
- [compile_robot_model.cmake] rewrite everything from scratch
euslisp
- [rtm-ros-robot-interface.l] Add method to align footsteps with roll or pitch angle
- [datalogger-log-parser.l] change max-line count method
- [rtm-ros-robot-interface.l] Add sync-controller method, which preserve limb-controller angle before remove-joint-group is called.
- [rtm-ros-robot-interface.l] Enable to set gravitational acceleration for calculating st parameter
[HrpsysSeqStateROSBridgeImpl.{cpp,h}] display more debug info for diagnostics
[cmake/compile_robot_model.cmake] Revert "compile_robot contains output files, not targets"
[hrpsys_ros_bridge/package.xml] Limits dependent pkg version to avoid critical error in downstream (tork-a/rtmros_nextage/#160)
Contributors: Eisoku Kuroiwa, Isaac IY Saito, Kei Okada, Shunichi Nozawa, Iori Kumagai

1.2.9 (2015-04-11)

[package.xml] remove pr2_controllers, add pr2_controller_msgs, pr2_msgs, control_msgs package.xml
[collision_state] fix to work collision state
- [collision_state.py] fix minor bug of collision_state.py CORBA.OBJECT_NOT_EXIST -> omniORB.CORBA.OBJECT_NOT_EXIST
- [collision_state.py] check isActive() to avoid raise error during servo on phase
[hrpsys_ros_bridge/catkin.cmake]
- move rtmlaunch/rtmtest from hrpsys_ros_bridge to openrtm_tools, add envhook for catkin users
[hrpsys_tools/hrpsys.launch] support DEBUG_HRPSYS argument to run rtcd with gdb
[hrpsys_ros_bridge/cmake/compile_robot_model.cmake]
- Add dependency from the files generated by export_collada to compile_robots in order to prevent parallel execution of export_collada
- Check current if scope has parent scope when set variable in PARENT_SCOPE in compile_robot_model.cmake to supress warning messages
- Fix serious typo: daefile -> _daefile in compile_robot_model.cmake
- fix warning in if/endif macro
- compile_robtos should be list of all generated lisp file, not targets
[euslisp/rtm-ros-robotics-interface.l]
- Add impedance controller mode getter method
- Return Euslisp coordinates from :get-foot-step-param
- Add methods to get Euslisp style parameters from IDL enum type
- Add comments for st methods
- Add methods to tune st parameter
- Add functions to calculate eefm st parameters
- Fix order of ee setting
- Pass arguments for joint-properties to ProjectGenerator
Contributors: JAXON, Kei Okada, Ryohei Ueda, Shunichi Nozawa

1.2.8 (2015-03-09)

[hrpsys_ros_bridge] Do not run collada_to_urdf parallel. In order to avoid parallel execution of collada_to_urdf, add tricky dependency
Add graspless manip mode euslisp interface
[test-*.py] test name could not contain minus? any changet to underscore (http://answers.ros.org/question/197377/rostest-not-finding-the-actual-test/)
[test-samplerobot.py] fix syntax error on loadPattern
update for legged robot
Sample.pos is not installed via deb package, see https://github.com/fkanehiro/openhrp3/issues/46
Fix rmfo sensor argument
copy rtmlaunch,rtmtest to global_bin when compile
Add method to calculate go-velocity param from velocity center offset
Add menus for unstable rtcs (not used by default)
Add setting for HrpsysConfigurator in hrpsys dashboard and apply it to servoOn/Off menu (disabled by default).
Remove unused initial leg offsetting because this is implemented AutoBalancer's setFootSteps
[hrpsys_ros_bridge] Refactor compile_robot_model.cmake
Use ee name for impedance methods
[hrpsys_ros_bridge] collision_state.py: need to wait for activate
[hrpsys_ros_bridge] sensor_ros_bridge_connect.py: wait for sh, sometimes we can not find them
Update impedance start/stop methods
[hrpsys_ros_bridge] Do not call export_collada in parallel
Update :reset-force-moment-offset funcs and add documents
Update documentation strings for ImpedanceController and Ref forces
[hrpsys_ros_bridge] Fix path for catkin build
pass :rarm instead of 'rhsensor' or 'rasensor' to :set-forcemoment-offset-param
Add seq base pos and rpy methods
Remove duplicated method and fix argument passing for imp methods
Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Eisoku Kuroiwa

1.2.7 (2015-01-06)

Add :reference-root-coords method for log
Update datalogger parser time parsing and robothardware naming
Add euslisp methods for seq wait interpolation and co get status
Enable virtual force setting. Read conf file in HrpsysSeqStateROSBridge and connect vfs ports if exists
Add set ref force and moment methods. Enable vforcesensors
change robot-init function to pass arguments to initializer
Set default name as co
Use segment name of body_info as collision detection frame_id
Add argument to select collision_state.py activation because collision_state.py can be launched in hrpsys_ros_bridge.launch
Enable to configure collision detector instance name
Use subscription_type as new to avoid influence on realtime process
(rtm-ros-robot-interface) : Add optionaldata for dump-seq-pattern-file
(rtm-ros-robot-interface) : Add function to load seq pattern file and euslisp list from it.
(rtm-ros-robot-interface) : Add documentation string for dump-seq-pattern-file
Fix frame of loadPattern
Add euslisp interface method for reference wrench
Publish reference wrench from StateHolder wrench data ports. Check existence of wrench ports because hrpsys-base 315.1.9 does not have wrench ports in Seq and Sh.
Add RMFO calib readme
Update RMFO calibration sequence. Use parameter file
Add load and dump rmfo param methods
Separate robot date string as method and fix :save-log default argument
on indigo, hrpsys is not ros-catkin package
fix for new packaging openrtm/hrpsys (compile package directoly from original repository)
Fix typo of hrpsys_ros_bridge.launch
Add USE_HRPSYS_PROFILE to toggle whether running hrpsys_profile
Add parameter ~publish_sensor_tf to HrpsysSeqStateROSBridge to toggle publishing tf frames of the sensors
Fix unitsystem for documentation
Add directory to generate Euslisp documentation
Enable to set integer enum values
(rtm-ros-robot-interface) : Fix typo in save-log
(rtm-ros-robot-interface) : Add date string and robot name to Datalogger log name by default.
(rtm-ros-robot-interface) : Update seq methods. Revise set-interpolation-mode using defconst param and remove deprecated dump-seq parttern
Merge remote-tracking branch 'origin/master' into tmp_update_impedance_controller_methods
(rtm-ros-robot-interface) : Update impedance controller setter and getter
(rtm-ros-robot-interface) : Remove deprecated euslisp interface and functions.
Update rtmbuild_init to specify dependency of generate_messages and add new service interface to HrpsysSeqStateROSBridge to specify transformation for each sensor
Merge pull request #583 from eisoku9618/update-print-end-effector-parameter-conf-from-robot Merged.
do not print a leading colon of :rarm
(rtm-ros-robot-interface) : Enable to set st algorithm as Euslisp symbol.
remove unnecessary white spaces
rename total time of 1 cycle from RobotHardware0 to Summary
add eps_of_rh variable in order to reduce unnecessary for loop
(test-samplerobot) : Import all srv files in test-samplerobot.py discussed in https://github.com/start-jsk/rtmros_common/issues/558
(default_robot*.launch.in) : Add argument for precreate controller
(rtm-ros-robot-interface) : Update :set-gait-generator-param method to use defconstant enum values and add printing method
(datalogger-log-parser) : Add abc baseTform reading
Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa

1.2.6 (2014-10-10)

set time-limit to 300
(test-samplerobot.py) fix test case, since /clock is sync with hrpsys time, so we can use more strict settings
fix test code for changing 0.002
(rtm-ros-robot-interface) : Add documentation strings for state methods and rearrange it. Add logger documentation.
Contributors: Kei Okada, Shunichi Nozawa

1.2.5 (2014-10-04)

Improvement on rtm-ros-robot-interface, datalogger-log-parser, samplerobot
Fix stamp of odom and imu
Improve dependency: robot_pose_ekf.launch, robot_pose_ekf
Contributors: Kei Okada, Shunichi Nozawa, YoheiKakiuchi

1.2.4 (2014-09-08)

(test/test-pa10.test) support GUI argument
(test/test-pa10.py) add test for /command
(hrpsys_ros_bridge/src/HrpsysJointTrajectoryBridge.cpp) support <controller>/command, see #537
(README.md) fix document, based on snozawa's comment
Contributors: Kei Okada

1.2.3 (2014-09-03)

1.2.2 (2014-08-31)

(rtm-ros-robot-interface)
- Define Euslisp setter and getter from param slots names
- Update set-st-param for Stabilizer
- Add KalmanFilter ROS Bridge and euslisp interface to hrpsys_ros_bridge.launch
- Add calibrate-inertia-sensor
- Add new arguments for new st param
- Fix end-effector name (without colon) according to https://github.com/fkanehiro/hrpsys-base/pull/301
- Update abc and st euslisp interface according to idl update, fkanehiro/hrpsys-base#239
- Access robot-state's imu in callback to fix https://github.com/start-jsk/rtmros_tutorials/issues/67
Use catkin_make -C to change direcotry (Fix #523)
(datalogger-log-parser.l)
- Support https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/3200b63dfcbd3c02b919fe6ad03c425e5057ee5c commit
- Support both reference worldcoords and actual worldcoords ;; StateHolder's value is reference and kf is actual.
added make-default-ForceCalibPosesForLegs to euslisp/calib-force-sensor-params.l
(Force sensor)
- fixed accessing to force sensor in calibration function
- fix AbsoluteForceSensorService -> RemoveForceSensorLinkOffsetService
(compile_robot_model.cmake, hrpsys.launch, hrpsys_tools_config.py) Add argument to use Unstable RTC List and configure it from cmake discussed in https://github.com/start-jsk/rtmros_gazebo/pull/61
Contributors: Kei Okada, Kunio Kojima, Shunichi Nozawa, Masaki Murooka, Isaac IY Saito

1.2.1 (2014-06-23)

add euscollada path for compile collada model
Merge pull request #495 from k-okada/add_servo_controller hrpsys_ros_bridge.launch: add servo controller
(datalogger-log-parser.l) : Check existence of zmp value and rpy value
hrpsys_ros_bridge.launch: add servo controller fix rtmlaunch options (thanks to \@hyaguchijsk)
does not use group tag, just use unless tag to disable connection between sh.rtc:baseTformOut and baseTform
(hrpsys_ros_bridge/package.xml) run_depend on ipython
(hrpsys_ros_bridge/package.xml) Sort in alphabetical order
(rtm-ros-robot-interface.l, datalogger-log-parser.l) Update imu euslisp methods ;; We should use /imu instead of tf according to https://github.com/start-jsk/rtmros_common/pull/477
hrpsys_ros_bridge/euslisp/datalogger-log-parser.l:add reading zmp data from hrpsys log file
Merge pull request #458 from snozawa/rotate_camera_z_axis Rotate sensor->localR 180[deg] because OpenHRP3 camera -Z axis equals to ROS camera Z axis
Merge pull request #477 from garaemon/add-imu-topic-remove-imu-floor Add /imu topic and /odom topic remove imu_floor
Merge pull request #460 from k-okada/hrpsys_version_gte set hrpsys version greater than 315.2.0
update pa10 test code
publish Imu value to /imu topic and odometory value to /odom.
fix ProjectGenerator path for compile_collada_model
update .gitignore for auto generated files under hrpsys_ros_bridge directory
rtmlaunch; Add usage api doc
hrpsys_ros_bridge/euslisp/datalogger-log-parser.l : update state methods and add eof check
hrpsys_ros_bridge/README.md, hrpsys_ros_bridge/euslisp/README.md

add README for hrpsys_ros_bridge and euslisp usage
hrpsys_ros_bridge/euslisp/datalogger-log-parser.l : support force sensor reading
hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l : update sensor accessor commited in https://github.com/euslisp/jskeus/pull/92
(package.xml files) Update repository URLs
(start-jsk/rtmros_common/pull/397) hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch, hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py : rename AbsoluteForceSensor => RemoveForceSensorLinkOffset
(collision_detector.launch) add default model file path using one fromreal robot
( https://github.com/start-jsk/rtmros_gazebo/issues/44 ) hrpsys_dashboard.py: add 'import re' for using regular expression
add generation of hrpsys_config for robots using unstable RTCs ;; add configuration for unstable RTCs in cmake ;; by default, do not nothing, so there will be no side effect for robots only using Stable RTCs
set RTCTREE_NAMESERVERS environment variables, for #453
pass args to super class
set hrpsys version greater than 315.2.0
Rotate sensor->localR 180[deg] because OpenHRP3 camera -Z axis equals to ROS camera Z axis http://www.openrtp.jp/openhrp3/jp/create_model.html
add samplerobot.rviz
hrpsys_ros_bridge/collision_state.py) Use logerr to highlight an error that could be overlooked
(HrpsysJointTrajectoryBridge) ros cpp style macro applied.
Contributors: Isaac Desu Saito, Isaac IY Saito, Isaac Isao Saito, Kei Okada, Kunio Kojima, Ryohei Ueda, Tatsushi Karasawa, YoheiKakiuchi, mmurooka, nozawa

1.2.0 (2014-05-14)

bump to 1.2.0for hrpsys 315.2.0

1.0.12 (2014-05-06)

(collision_detector.launch) typo
use odom instad of imu_floor
do not connect port when afs is not found
set WALKING and IMPEDANCE controller as non-default RTC
update generate config.yaml
add both Robot(Robot)0 and RobotHadware0 in datalogger
add scripts for auto generating controller config yaml
Use subprocess.Popen rather than check_call in order to call external process asynchronouslly
pass argument to get-ROSBridge-method-defmacro method
add generating urdf file to compile_robot_model.cmake
Merge pull request #433 from k-okada/do_not_compile_idl_twice do not update manifets.xml and copy idl when it is not needed (#429)
implement hrpsys_dashboard base on rqt, not on rxtools
do not update manifets.xml and copy idl when it is not needed (#429)
rename base-pos and base-rpy => root-pos and root-rpy
add reading of datalogger properties
set REALTIME=ture as default
update :start-auto-balancer and :stop-auto-balancer method according to hrpsys-base trunk update at https://code.google.com/p/hrpsys-base/source/detail?r=1039 commit ;; we do not need to change usage of these methods
Contributors: Isaac Saito, Kei Okada, Ryohei Ueda, YoheiKakiuchi, Shunichi Nozawa

1.0.11 (2014-04-16)

use random staritng port number for rtm_naming, also try to continue if name server is already running
Contributors: Kei Okada

1.0.10 (2014-04-15)

remove sed to comment out pr2_controllers
Contributors: Kei Okada

1.0.9 (2014-04-14)

(hrpsys_ros_bridge) add git to build_depend
Contributors: Isaac IY Saito

1.0.8 (2014-04-14)

use <git://> for download pr2_controllers (potential fix for #410)
add rosdnode to depends(see https://github.com/jsk-ros-pkg/jsk_roseus/pull/65, #411)
add euscollada_SOURCE_PREFIX and euscollada_PREFIX
use start_omninames.sh for rosdevel build environment, see #400
remove deprecate function to generate conf parameter
Added procps, hostname, net-tools build_depends. These tools are used during building and testing
Contributors: Kei Okada, Scott K Logan, Shunichi Nozawa

1.0.7 (2014-03-20)

call find_package(catkin) fist
#22: add PROJECT_NAME to the target used in compile_robot_model to avoid collision of the target names
add rostest/hrpsys_tools to depends and find_package
hrpsys_ros_bridge: (test-compile-robot.launch) add test-compile-robot.launch (but is is not includeded in CMakeLists.txt and use .launch instead of .test due to Issue #87), fix compile_robot_model.cmake work with devel of hrpsys_ros_bridge, disable launch script from test-compile-robot.sh
hrpsys_ros_bridge: add test-compile-robot.sh test-compile-robot.xml test-compile-robot.cmake
check hrpsys_ros_bridge SOURCE_DIR for both SOURCE_DIR and PREFIX
hrpsys_ros_bridge: use catkin package of pr2_controllers_msgs
hrpsys_tools, hrpsys_ros_bridge: increase retly to 4 for test
hrpsys_ros_bridge: install/lib/python2.7/dist-packages/hrpsys_ros_bridge/__init__.py disappeared somehow? this is temprarily fix (FIXME)
hrpsys_ros_bridge: fix compile_robot_model.cmkae, use find_package to set /lib/openrtm_aist/bin/rtm-naming /lib/openhrp3/export-collada
collision_state.py: display with logwarn when CollisionDetector is not found
hrpsys_ros_bridge, fix path for installed conf/dae/launch files
compile_robot_model.cmake: add debug message in generate_default_launch_eusinterface_files
hrpsys_ros_bridge: (test-samplerobot.py, test-p10.py), increase timeout of watForTransform() and catch exception if tf is not found
collision_state, wait until co is found, if not found exit with 0, not 1
hrpsys_profile.py add Exception
hrpsys_ros_bridge: add collada_urdf to depends
hrpsys_profile.py: run hrpsys_profile within try block
hrpsys_profile.py: remove undefined variables
hrpsys_ros_bridge: add visualization_msgs to depeds
hrpsys_ros_bridge: fix ProjectGenerator location, see #353
hrpsys_ros_bridge: add test code for samplerobot and pa10
hrpsys_ros_bridge: add diagnostic_aggregator to depend (manifest.xml package.xml)
hrpsys_ros_bridge: add more args to default_robot*.in (GUI, SIMULATOR_NAME, corbaport)
add comment on why we remove depend to pr2_controllers_msgs
(package.xml) add angles to build_depend intentinally dut to build_depend to tf does ont install angles
(manifest.xml) commented out depend package pr2_controllers_msgs for rosmake dependency graph generation, but comment in for rosmake build objects
(manifest.xml) if you have both rosdep and depend, rosmake does not work well, see https://github.com/jsk-ros-pkg/jsk_common/issues/301
(manifest.xml) users are expected to manually install ros-groovy-pr2-dashboard
(CMakeLists.txt) download pr2_controllers_msgs for groovy/rosbuild
fix typo ;; elif -> elseif
add
Wrong catkin macro (CATKIN-DEPENDS to CATKIN_DEPENDS).
change destination of stdout of rtmlaunch.py by OUTPUT arg
add CMAKE_PREFIX_PATH so that rosrun hrpsys ProjectGenerator works
Merge pull request #334 from k-okada/master
add openhrp3_PREFIX, more debug message
add / after hrpsys_idl_DIR
add hrpsys to find_package
add more verbose log when error
update PKG_CONFIG_PATH for hrpsys-base
display error output
add depend to pkg-config
add depend to pkg-config
added euslisp, srv, idl directories to install
move to git repository
add hrpsys to find_package
add more verbose log when error
Merge branch 'master' of http://github.com/k-okada/rtmros_common
display error output
add depend to pkg-config
add depend to pkg-config
update PKG_CONFIG_PATH for hrpsys-base
Merge branch 'master' into garaemon-master
not generating sh but running rostes directory to avoid escape problem
Merge branch 'master' of http://github.com/k-okada/rtmros_common
use pkg-config to find directories
Merge branch 'master' of https://github.com/start-jsk/rtmros_common
move to git repository
added euslisp, srv, idl directories to install
fixing list syntax
force to set ROS_PACKAGE_PATH when calling euscollada for catkin build
adding LD_LIBRARY_PATH
remove depend to robot_monitor
changing the working directory when call export-collada
do not compile lisp code if euxport collada is not exists
add diagnositcs_msgs to fake rosdep
add dynamic_recofigure to fake rosdep
add several rosdep names to fake rosdep
add rosdep hrpsys/openrtm_aist to fake rosdep
profibit to run rostest parallel
installing src directory as python package
(hrpsys_ros_bridge/package.xml) Partially revert r6936 where a dependency was removed by mistake.
Contributors: Kei Okada, Ryohei Ueda

1.0.6

rtmros_common-1.0.6
(rtmros_common, openrtm_ros_bridge, hrpsys_ros_bridge) Cleaning and elaborating package.xml
add setting for CONF_DT_OPTION
set corba port to 15005 in euslisp model dump function
fix proble due to r6908, also remove find_package since hrpsys can not find-packed-ed
add hrpsys_tools to depends on openrtm_tools, see Issue 309
set custom cmake file under CFG_EXTRAS, so that other package is abel to use macros defined in the cmake file
generate /tmp/_gen_project**.sh file to invoke rostest since rostest needs package path, see Issue 306
installing euslisp directory of hrpsys_ros_bridge when catkining
not use rosbuild for catkin
fixing close tag in nosim.launch
add RUN_RVIZ arg in default launch template files
add REALTIME arg in hrpsys-simulator launch template files
fix position of long floor
add :torque-vector for playpattern
add reference torque vector data reading
update initialization to neglect log files which lines are not match ;; convert rad2deg
fix typos ;; wf -> zf
add .zmp file dump
add fname for datalogger-log-parser
use .rviz file for .in file
add datalogger log parser for euslisp
enable to se PROJECT_FILE name
remove unnecessary print function
fix hrpsy_ros_bridge.launch for hrpsys version 315.1.5
add :zmp-vector and callback ;; acc print function for end_effectors in conf file
add argument for tm
add type_name to SensorInfo ;; use it in imu_floor tf sending ;; for almost all robots, frame name is 'gyrometer'
write seq pattern file separatively ;; do not dump .waist file if :root-coords does not exist
publish zmp as PointStamped
add zmp data port for HrpsysSeqStateRosBridge
add euslisp utility fnuction for seq pattern file
fix syntax error
set_stale when op_mode is not Servo ON nor Servo Off
move hrpsys_profiel out of USE_DIAGNOSTICS
rename USE_DIAGNOSTICS <- LAUNCH_DIAGNOSTICS args
add LAUNCH_DIAGNOSTICS args
add use_diagnostics, use_rosout, use_battery option in __init__
using prefix for sensor-name
add debug print, when body->joints().size() and m_servoState.data.length() is not equal
split hrpsys_dashboard into hrpsys_dashboard and src/hrpsys_ros_bridge/hrpsys_dashboard.py, see Issue 270
fix color
change sphere radius depends on dangerness
rosbuild does not raise exception when import roslib, use import hrpsys
add utility functions for project generator xml file
add argument to set timeStep according to hrpsys-base -r905 commit ;; we can set timeStep <= dt ;; http://www.openrtp.jp/openhrp3/jp/create_project.html
enable to add :root-coords which is optional robot states
fix typo ;; tile -> time
change line width depends on the distance

1.0.5

"rtmros_common-1.0.5"
reverse rpy-angle because euslisp rpy is 'yaw pitch roll' and openhrp3 rpy is roll pitch yaw
pkill kill cmake itself, not why, so create shell script and execute it
use find_package for hrpsys and hrpsys_tools
fix Issue 256
do not depends to lisp file if euscollada is not exists
fix missing variable _collada2eus to _collada2eus_exe
do not FATAL_ERROR when collada2eus is not found
fix for catkin compile
add debug message
use full path instead of rosrun/rostet for when two binaries are installed
fix for catkin, catkin does not requires load_manifest
apply patch in Issue 254
fix ROS_DISTRO->groovy, this code only used in groovy
fix sed command
fix typo ENV=>
add rostest to run_depend
set pr2_controllers to build/run depends and fix catkin.cmake to comment out therese tags if groovy
distance under 0.05 always red
translate line information relative to root_link_frame
add lifetime
add standalone collision detector launch file, see #249
fix color
add error message more verbose
catch CORBA.OBJECT_NOT_EXISTS
rename typo collistion_state.py collision_state.py
add collistion_state.py in launch file, Issue 249
add collistion_state.py, Issue 249
fix length of force list for resetting
fix compile_openhrp_model for catkin, see Issue 241

1.0.4

"rtmros_common-1.0.4"
update with r5733

1.0.3

"rtmros_common-1.0.3"
remove :start and :stop abc in go-pos and go-velocity
update to use from hrpsys.hrpsys_config import *, due to change at https://code.google.com/p/hrpsys-base/issues/detail?id=128, Fixed Issue 231, Fixed Issue 219
add end-effector parameter print function for abc

1.0.2

"rtmros_common-1.0.2"
use connection as new
add calc-zmp-from-state method
add loading of utils file if exists
fix typoes ;; _name -> _sname
get current additional_make_clean_files and append setting to it ;; use _sname instead of overwriting _name
add generated launch and euslisp files to clean target
fix when rtmros_common is installed as catkin package, see Issue 214
install cmake directory

1.0.1

rtmros_common) 1.0.1
rtmros_common) Revert wrong commit r5588
rtmros_common) 1.0.1
hrpsys_ros_bridge) fix to issue 205 (incomplete but worth trying)
hrpsys_ros_bridge) Correction to r5584.
hrpsys_ros_bridge) Improve package.xml description.
add pr2_dashboard path to sys.path for those who could not import pr2_dashboard
add comment when pr2_dashboard is not found
hrpsys_dashboard) Fix to run with rosbuild.
hrpsys_ros_bridge) add Isaac as a maintainer to get notice from buildfarm.
add diagnostic_msgs to depends
add roslang to depend
use rtmbuild_PREFIX instaed of CMAKE_INSTALL_PREFIX to get rtmbuild.cmake
fake rospack not to sudo rosdep install
add python-rosdep and rosdep udpate to different execute_process
do not set local for jenkins debuild
copy rtmlaunch/rtmtest/rtmstart.py to both share and bin for backword compatibility
add random string to pr2_controllers_msgs directory path
workaround for ros-groovy-rqt-top installs wrong(?) psutil
fix for new rtmstart.py
add LC_ALL=en_US.UTF-8
fix syntax error on previous commit
add rosdep update when compile pr2_controlers_msgs
unset *_LIBRARIES not to add library names to Config.cmake
add python-psutil to depend
add rosbuild to depends
add mk
add --non-interactive --trust-server-cert for svn
use corba port number 15005
install rtmtest and rtmstart.py
remove from rtmstart.py
add rtmtest.py from rtmlaunch in order to add rtmtest, add alias rtmtest to rtshell-setup.sh
add subversion for groovy, that download and compile non-catkinized pr2_controllers_msgs package
download and compile pr2_controllers msgs which is not catlinized on groovy
pr2_controllers is not catkinized on groovy
add pr2_controllers to bulid/run_depend and use ROS_DISTRO to include pr2_controller_msgs directory
add code for restarting jointGroup
add remove-joint-group and remove obsolate code
fix directory structure, see Issue 188
add generating code of controller_config.yaml for using joint group
checking the existance all joints in required group on HrpsysJointTrajectoryBridge (ignore not existing joint)
fix : rearrange joint order in required goal
forget to fix corba port to 15005, see Issue 141
fix catkin.cmake for installed project
add import OpenRTM_aist.RTM_IDL, for catkin
print error message on detection of nan in imu_floor tf
install FILES does not need USE_SOURCE_PERMISSIONS
fix catkin.cmake, since openrtm_aist/openhrp3/hrpsys is compiled as non-catkin package (this means catkin_make does not install <package>.pc <package>Config.cmake and use DEPENDS not CATKIN-DEPENDS)
fix to work on both rtmbuild and catkin environment
ignore srv files whose name starts with . in rtm-ros-robot-interface, closes Issue 149
fix for catkin
check if port_number(5005) is already used, Fixed Issue 141
comment out pr2_controllers
change pr2_controllers_msgs -> pr2_controllers
set default corbaport to 5005, Fixes Issue 141
fix method name for set-joint-angles-of-group
add add_dependencies to compile_hrpsys
fix copy idl file from hrpsys/idl
install rtmbuild from rtmbuild_SOURCE_DIR/CMAKE_INSTALL_DIR
fix typo ;; COLLISIONCHEC => COLLISIONCHECK
print name of ports
add arguments to specify generated files
add arguments to specify file generation
rename macro ;; fix typo
add nosim template and fix euslisp file name
add macro to generate default launch files and euslisp interface
wirte more debug comment to ROS_INFO_STREAM
hrpsys_ros_bridge) Delete unused dependency. Alphabetize dependency.
Remove unused components (robot_monitor).
rtmros_common) Increment version to 1.0.0 (based on discussion https://code.google.com/p/rtm-ros-robotics/issues/detail?id=156&thanks=156&ts=1375860209).
Updated all package.xml in rtmros_common metapkg (add URLs, alphabetized, cleanup, add Isaac as a maintainer to receive notice from buildfarm).
check if USE_ROSBUILD is defined
fix 2888 -> 2890 according to discussion of http://code.google.com/p/rtm-ros-robotics/issues/detail?id=139
fix for catkin, with USE_ROSBUILD
catkinize package
add depends to openrtm_ros_bridge
add openrtm_tools as depend
add depends to hrpsys_tools
workaround for Issue 150
use hrpsys_ros_bridge for generating ROS service methods
rtmlaunch.py was moved to openrtm_tools
import from hrpsys_ros_bridge.srv instead of hrpsys.srv
minor change
hrpsys.launch now goes under hrpsys_tools and rename hrpsys.py to hrpsys_config
add depends from hrpsys to hrpsys_tools, (hrpsys_tools to hrpsys is also exists, this this is intentially looped) so that users just depends on hrpsys
change INCLUDE_DIRS from {prefix}/idl_gen/cpp/{prefix}/idl to {prefix}/idl_gen/cpp, so need to include <prefix/idl/hoge.h> instead of <hoge.h>, Issue 137
ProjectGenerator is under hrpsys_tools not hrpsys: cleanup hrpsys, split hrpsys and hrpsys_tools, Issue 137
copy idl from hrpsys/share/hrpsys/idl to hrpsys_ros_bridge/idl, Issue 137
add depends to hrpsys_tools, Issue 137
update openrtm -> openrtm_aist, hrpsys -> hrpsys_toolss: cleanup hrpsys, split hrpsys and hrpsys_tools, Issue 137
fix port num ;; 2888 -> 2889
run omniNames with port 2888 in compile_openhrp_model
add USE_ROBOTHARDWARE
check if server is active before send set preempt, this enables exit component cleanly, related to Issue 47
fix miss commit ;; add temperature
enable to store extra_data of motor_states
use PeriodicExecutionContext instead of hrpExecutionContext, Issue 136
launch node within group tags not to invoke unused component, see Issue 114
add dt conf file option
remove unnecessary copying of return value
add _ret_add_str and remove duplicate codes
fix position of return value setting
do not specify if base-name is nil
add connection for hrpsys_ros_bridge
add dependency of _xmlfile on _xmlfile_nosim to achieve exclusive execution of rostest
print port name in sensor_ros_bridge_connect
adding some wait for waiting to update rosnode information
fix return value if limb is nil
fix separator of macro argumens
fixes Issue 64, some packaed does not depends on euscollada, invoke rtm-naming within add_custom_command
add dependency on euscollada, export-collada, and _gen_project.launch
rename -xxx options -> --xxx options
specify 2888 in pkill
add macros to obtain options for _gen_project.launch and euscollada
add get_option macro
add INTEGRATE argument
start model loader with 2888 port when launch _gen_project.launch
do not make error, when collada2eus is not found, some package(hironx_ros_bridge) does not depends on euslisp
add xml nosim to target
add nosim option and generate nosim xml
add robothardware conf option
rename abs_xx -> off_xx
add compile_collada_model to ALL
fix (arg SIMULATOR_NAME)0 -> (arg SIMULATOR_NAME)
rtmlauch.use_if.py -> rtmlaunch.py
cleanup hrpsys_ros_bridge.launch, use if group, by miyake. Issue 114
enable to load only link offset ;; use average value
fix typo ;; params -> param
add :reset-force-moment-offset
support euslisp style argument for forcemoment and impedance methods
use euscollada-model's :force-sensor methods instead of get-force-sensor-from-limb-name
revert to use force-vector and moment-vector
update to use absolute force vector for calibration
add :imucoords method
add port and connection for absolute force sensor values
use AbsoluteForceSensor for impedanc Controller
call :update-robot-state in super's :state methods
check return value of imucoords from TF
call rtc_init before rospy.init so that Issue 117
neglect arguments added by roslaunch
add rtmlaunch that runs omninaming and runs roslaunch, Issue 105, this is not tested on NameServer running on remote computer, see to https://code.google.com/p/hrpsys-base/issues/detail?id=117
imu reading of update-robot-state
fix wrong length of angles while uing JointGroup
add ForwardKinematicsServiceROSBridge
cleanup launch file Issue 114
fix: condition for checking num of publisher
fix: using walltime for waiting timeout
remove miss commited comment out
tf::Matrix3x3 causes compilation error in electric. use btMatrix3x3 instead
do not publish tf which contains nan values
chnage: detecting num of /clock publisher before starting and stoping subscribe /clock
update footstep interface for abc
add print message in starting
add vel ratio
add cmd vel mode
check hrp::link parent existence because joint state with no name is published at previous version ;; This is OpenHRP3 'WAIST' joint specification. I should check OpenHRP3 model loading
select a timestamp of force sensor messages according to use_sim_time
get root-link name in :state :imucoords.
add default-double-support-ratio setting
add robothardware conf setting
add macros for export_collada_option and conf_file_option
add stabilizer methods
comment out target_name and base_name and support default zmp offset
add optional argument to collada2eus
add stabilizer ros bridge
enable to specify calib offset
rename make pose function ;; support nodisplay usage
add force sensor calib program
add load-forcemoment-offset-param method
add interface to specify sensor offset
enable to access force-sensor by limb name
make models directory in compile model macros when it doesn't exist
set RobotHardware0 by default for SIMULATOR_NAME
use SIULATOR_NAME instead of ROBOT_NAME in hrpsys_ros_bridge.launch ;; ROBOT_NAME argument in hrpsys_ros_bridge.launch is still remained for compatibility but please do not use ROBOT_NAME
support limb name usage
fix typos and add virtual force sensor stop method
add connection for virtual force sensor
fix keyword of set-servo-gain-percentage
fix naming rule of virtual force sensor and fix quaternion -> axisangle
add CONF_FILE_ARG and specify vitual_force_sensor by using conf file
specify rtc manager name
specify nameserver name and CORBA_init args
rename value -> default
use WAIST if base-name is nil ;; Is this correct?
remove depends to pr2_dashboard for groovy, wait for fix
change a name of imu tf and add a method to get imu coords in rtm-ros-robot-interface
fix :set-base-pose in rtm-ros-robot-interface.l
fix for publishing warning message
add connection from state_holder(qOut) to rosbridge(mcangle)
comment out port for RobotHardwareService because Simulator does not have RobotHardwareService
add comment for groovy
remove rtconnects between RobotHardware and KalmanFilter; this is achieved by hrpsys.py instead
comment the IMU related rtconnects out for non IMU robots
add basePos and baseRpy to HrpsysSeqStateROSBridge and connect in hrpsys_ros_bridge.launch
modify rtm-ros-robot-interface.l: add set-servo-error-limit and set-soft-error-limit
modify hrpsys_ros_bridge.launch to execute RobotHardwareServiceROSBridge and SoftErrorLimiterServiceROSBridge
add default rate to hrpsys_ros_bridge
check sensor existence for HRP4C
use regiterInport for gyrometer and gsensor
fix walking command and example
use automatically generated methods
add define-all-ROSBridge-srv-methods to define srv methods from srv and idl files ;; currently comment out
add comments to hrpsys.py
add getSensors and use it
fix for hrpsys-base's r693 commit ;; fix for acc and rate naming rules
make class to configure hrpsys RTCs and data ports
add StateHolder rosbridge
set subscription type new for real robot
set subscription type new for real robot
change name of a method for logger (Issue 74)
add method for logger, Flxed Issue 74
added rtconnect of torque in hrpsys_ros_bridge.launch
remove autobalancer methods from sample
add target2foot_offset_pos and rot
add methods for get and set parameters for ABC
enable multiple --conf-file-option
add AutoBalancer for hrpsys.py and launch files
add methods for auto balancer RTC
add method to dump pattern file for Seq
update check of virtual force sensor impedance control and add seq loadPattern
enable to specify conf file setting for _gen_project.launch
support virtual force sensor usage
add sensor_ros_bridge_connect to connect sensor data ports based on ModelLoader's sensor information
re-organize code, use IDL style method name for each service/idl and use euslisp style method name for wrapper of them
enable to get force-vector and moment-vector
add removeforcesensor offset interface
add getImpedanceControllerParam and enable to set parameter individualy
fix potision of argument in :start-impedance-impl
fix typo ;; start-impedance in stop-impedance
fix condision of limb for start and stop impedance
add yaml depend in hrpsys_ros_bridge
use :force-sensor method
use root-link's parent by default
fix bug of send*
add methods for impedance controller
fix name : use upper case for argument, (Fixes issue 65)
add launch_ros_model argument to hrpsys_ros_bridge.launch
fix number of clock publisher ;; publisher ==1 means no clock publisher other than HrpsysSeqRosBridge, which means HrpsSeqRosBridge should publish /clock
add ImpedanceCOntroller service ROS Bridge
check use_sim_time
do not publish /clock when othre node pulishes
rm config, no longer used?
fix : move hrpsys_ros_bridge exmaple codes to hrpsys_ros_bridge_tutorials
move hrpsys_ros_bridge exmaple codes to hrpsys_ros_bridge_tutorials
add CollisionDetectionService interface to rtm-ros-robotics-interface.l
add CollisionDetectorService
add import time for sleep Use one depth queue for avoid sending multiple servo off message, Issue 32 Status: Fixed
add setServoGainPercentage which is euslisp interface for idl2srv of RobotHardware RTC
add controller configuration file to hironx_ros_bridge.launch
add HIRONX_controller_config.yaml
Added Log button to hrpsys_dashboard to call DataLoggerService/save
add comment to why we need r3202
add hrp4c sample for using joint group
fix for using joint group
add HrpsysJointTrajectoryBridge for using joint group
fix directory name
fix directory name
mv euslisp programs to euslisp directory
revert CMakeLists.txt
add test code for calling seq group
add comments
add debug message to set-interpolation
add :setBasePose method to rtm-ros-robot-interface.l
add sequenceplayserservicerosbridge node
fix by iori
remove glc_cpature from rviz node
fix for hrpsys 3.1.4
support control_msgs/FollowJointTrajectoryAction
update SIMULATOR NAME, set use_sim_time true
remove debug code
publich /clock from rsangle when /use_sim_time is true
add euslisp interface for CollisionDetectorService.idl #37
Comment out camera port connection in the simulator because it lacks lack versatility
Changed StateHolder name from StateHolder to sh. Modified rviz argument from --sync to -sync. In electric, rviz may not work correctly.
add emergence_stop.py
adopted hrpsys_dashboard to fuerte.
fix virtual force sensor setup
check High Temperature
mv SensorInfo to Impl, add virtual force sensor information
support virtual_force_sensor option
split diagnostics.py into diagnostics.py and motor_states.py
add calib done, power on, servo alarm message to diagnostics
add motor section
write motor status to diagnostic
add power indicator
send servo alarm
fix : update for hrpsys-base update
update for hrpsys-base update
fix hrpsys_profile, clean up codes
fix gyrometer and gsensor to use TimedAcceleratoin3D and TimedAngularVelocity3D
add darwin-vrml-file-path to reduce webots dependent path description
use ros::resolve-ros-path instead of defined function get-rospack-find-str
fix only indent
fix file-name probing committed at r3127 ;; probe-file webots original vrml file instead of generated openhrp3 path
ignore if DARwInOp.proto is not found
set default rate to 10 ; this process consumes cpu power so much
pre calculate sensor tf information
remove old features, diagnositcs and JointTempleture, now we can you hrpsys_profile.py and servoState
add extra_data for hrpsys-base revision 417
read force sensor size and name from model file
fix due to hrpsys update
clean up code, add error handling code
add diagnostics.py, diagnostics_aggregator and hrpsys_profile
add hrpsys_profile.py
set red icon if servo off
fix servoState data type from TimedLongSeq -> TimedLongSeqSeq
fix servoState data type from TimedLongSeq -> TimedLongSeqSeq
specify simulator and robothardware names by using SIMULATOR_NAME
fix usage of StateHolder ;; use qIn and qOut as reference angle-vector value ;; fix related launch files
round time value ;; we assume time stamp in walk2m.pos is integer
use rootlink_name, since calling bodyinfo->links() in onExecute consumes memory?
call goActual before servo on
serv off is not error
add Mode
add diagnostics.py to publish /Mode/Operating Mode/{Servo On,Servo Off}
pusblish odom->bodyinfo->links()[0].segments[0].name
fix HRP4C walk2m.pos data path
fix HRP4C model path
add servoState
add servoState
fix typo hrpsys_dashboarad -> hrpsys_dashboard
fix servo on/servo off
use OpenRTM timer for publish ROS message
fix link_name -> name for new openhrp3 3.1.3
use args for realtime_cpu_monitor.py
fix params robot_monitor
add robot_monitor and diagnostic.yaml
add hrpsys_dashboarad
add depends to dashboard/robot_monitor
add diagnostics_pub
use hrpEC
start up DataLoggerService in hrpsys ros bridge launch
add save log method
add KILL_SERVERS arguments to samplerobot_startup.launch
support KILL_SERVERS argument, set false as default
subscribe motor_states in initializatoin ;; add :temperature-vector
define rtm-ros-robot-interface to use hrpsys_ros_bridge dependent codes
add MotorStates.msg and publish it in HrpsysSeqRosBridge
remove webots from depends and add add_custom_command to download the sourcecode
reverted to r2951 for my mistake
check warning only for non-eistence movie or image
fixed index.rst and conf.py conflict problem
use baseTform instead of pose to obtain base link transformation from StateHolder
add JointTemperature data port ;; this data port does not work if Joint Temperature is input
update index.rst,conf.py by Jenkins
add manipulator for Yaskawa robot
fix: upport manipulator definition when export-collada, HRP4C is the example
support manipulator definition when export-collada, HRP4C is the example
make build/images for rostest
comment out torque reading printing by default
add data port for actual torques ;; rename original out data port for torque as mctorque ;; publish joint_states.effort based on rstorque
publish /fullbody_controller/state according to mcangle data port
rename compile_collada_robot->compile_collada_model
move compile_openhrp_model,compile_collada_robot to cmake/compile_robot_model.cmake
remove unused m_angle data port
increase max-time for gr001
fix typo hr001->gr001
increase time-limit
increse time-limit
increase time-limit
update samplerobot in house example to use grxui
fix video tag for rviz
fix for old cmake version issue #22
fix typo, errors
add to generate pr2.xml and pr2.conf
generate conf file from wrl for openhrp3 model
fix dependency
mv smartpal5.yaml yaskawasmartpal5.yaml
update CMakeLists.txt in order to run compile_robot sequentially, since this target use rostest and we could not run multiple rostest at the same time
fix xml
update launch script for eclipse-free hrpsys simulation
update make file to use _gen_project.launch to generate project file from model file
update documents
use copy for YasukawaSmartPal5
enable Camera of darwin.vcg avoid segfo in lucid
fix makefile for YasukawaSmartPal5
update launch documents
rtm-naming-restart now do not ru omniNaming in background, so that rosmake can easily kill rtm-naming
fix typo ;; openhrp -> openhrp3
use openhrp3_PACKAGE_PATH : try to call _stop_rtmnaming.launch at the end of the make test, to stop omniNames that confuses rosmake system
try to call _stop_rtmnaming.launch at the end of the make test, to stop omniNames that confuses rosmake system
revert to previous revision ;; ros name server must initialize before RTCsvn diff src/
fix order of member variables initialization
fix: rosbuild_download_data use download_checkmd5, wrong previous commit -> use download_checkmd5 instad of rosbuild_donwnload_data to try to download multiple times when fail
use download_checkmd5 instad of rosbuild_donwnload_data to try to download multiple times when fail
update test script
use video directive
add dependency on pr2eus because euslisp codes and msgs of pr2eus are used in examples
update launch script for new test-grxui.py
update time-limit
fix test setup for max-time
fix max-time for new jenkins machine
fix max-time
add off-pose
change reset-pose, in order not to collide with table
change service play pattern
remove waitforClockGenerator
update time-limit for gr001
update gr001.launch
update time-limit
update gr001 sample program
add gr001.launch to test
add GR001 model from choreonoid
set time-limit to 600
add pr2.launch to rostest
set ORBgiopMaxMsgSize to 2M to 20M
do not error when length of rsangle is larger then that of body->joints
remove retry option from test tag
fix dependency
fix dependency when downloading yaskawa model
path of robot-interface.l has changed
fix dependency
remove debug code
remove pr2 from test
add dirty patch
fix wait for ModelLoader code
fix check-tf
add debug message
add lfsensor and rfsensor
wait until ModelLoader is up
remove debug code
fix debug code
remove debug code
add pr2.launch for rostset
clean up code
fix camera position
fix path of webots robot directory ;; projects -> resources/projects
remove webots nodes if openhrp-node-name is not specified ;; does not export Receiver and Emitter to openhrp vrml
capitalize bottom, side, and top fields of cylinder
remove subdivision field from Cylinder Node in webots vrml because subdivision field does not exist in default VRML specification
add definition of Receiver PROTO and Emitter PROTO refering to reference.pdf in webots_simulator
fix path of darwin proto
rename webots -> webots_simulator because original directories or webots-ros-pkg are updated
use --nosim mode for pr2_startup
rename webots -> webots_simulator because original directories or webots-ros-pkg are updated
fix typo
add darwin-walk-data and update darwin sample ;; init -> walk -> pickup -> arm-up pose
remove unnecessary timestep argument ;; darwin simulation does not require this parameter by default at recent version
add angle-vector-for-seq-debug version instead of angle-vector-sequence version for hrp4c-walk debug
fix linear mode check ;; use :linear instead of linear
fix linear mode check ;; use :linear instead of linear
add raw service call for seq's waitInterpolation and setJointAngles
add hrp4c-walk in hrp4c-pickup sample script
setPreempted on Finalize
remove debug code
support angle-vector-sequence and wait-interpolation
lengthen max-time for hrp4c test
speed up darwin demo
add fullbody pickup sample for hrp4c robot ;; use hrp4c-fullbody-pickup by default
update hrp4c end-coords definitions
update darwin simulation
update for new visualization layout
add config for rviz
fix euslisp code for better visualization
update hrp4c.vcg
remove debug code
set timestep 0.005 for darwin
add pr2 simulation on openhrp3
add joint_state.velocity
update max-time
update documents for smartpal5.launch
add smartpal5.launch to rostest
support any size of input image
set max-time to 40 for dynamics simulated robot, 10 for no-sim robot
fix debug message
update darwin script
add arg OUTPUT
update launch files
add dependency to image_view2
fix euslisp model location
add smartpal5.yaml
add smartpal5 launch files
add to download yasukawa model
update webotsvrml2openhrp3vrml according to changing directory
move webotsvrml2openhrp3vrml from models to scrips
add scripts/webotsvrml2openhrp3vrml.l
move darwin.yaml from scripts to models
move model files from hrpsys to hrpsys_ros_bridge
add pa10, darwin, damplerobot launch example, rename file name based on description written in manifest.xml
add pa10, darwin, damplerobot launch example, rename file name based on description written in manifest.xml
wait until model loader is available
fix document
fix xml syntax
add hrp4c-nosim-pickup.launch and update hrp4c-pickup.l
remove hrp4c-example.launch
update launch description
fix max-time to 20
enable to specify service-name
update debug message
update hrp4c-*.launch files
rename file name from test-hrp4c-*.launch to hrp4c-*.launch
fix xml syntax error
fix documnets
add test files
rename hrp4crobot-pickup -> hrp4c-pickup
remove test directory use rosdoc and launchfiles
add rtm-ros-robot-interface including ros::service-call and use it in roseus samples ;; rtm-ros-robot-interface will support idl<->srv conversion
use require instead of load for model loading
add sendmsg service to Hrpsysseqstaterosbridge using dynamic_reconfigure srv
move darwin's hrpsys.launch file to hrpsys_ros_bridge
fix hrp4c.test and CMakeList.txt
add darwin sample launch files and script
add test program for hrpsys_ros_bridge
add rostest hrp4c.test and generate-document.test
update hrpsys_ros_bridge.launch : remove SimulationEC from openrtm_args and rename rtmlaunch to hrplaunch_hrpsys_ros_bridge
revert previsou commit
update hrp4c.vcg
changed nodes in hrpsys_ros_bridge to not link SimulationEC, these nodes are not real-time
current good connection script for hrp4r
add connection script for hrpsys_ros_bridge on real robot
unit of Update Intealval is [sec]
changed robot super class, from ros-interface to robot-interface
add --nosim launch file for hrp4c
add pickup demo for hrp4c
fix : forget to call spinOnce
use Update Interval 1 for Robot Model and TF
update darwin_ros_bridge.launch to use hrpsys_ros_bridge.launch
fix compile warning
fix wrong commit
clean up HrpsysSeqStateROSBridge
pusblish tf and others at the hrpsys cycle rate
add --sync
add SCHEDULER_ARGS argument support
fix to pass SCHEDULER_ARGS argument
fix debug message
clean up launch files, hrpsys/launch contains example for OpenHRP3.1 and hrpsys_ros_bridge/launch contains example for openhrp-scedular and ros bridge
move openhrp + ros integration example under hrpsys_ros_bridge
rename main_withHands to HiroNX
add hiro-nx example
add debug message to show \@Initialize
change samplerobot_hrpsys_ros_bridge to use hrpsys.launch
add rviz, image_proc, image_view, camshiftdemo in samplerobot_ros_bridge.launch
remove openhrp3 from manifest, this is writtin in hrpsys/manifest.xml
fix ROBOT_NAME from HRP-4C to HRP4
fix samplerobot_ros_bridge.launch to include hrpsys_ros_bridge.launch
add debug message
update .launch files, .dae files goes to hrpsys/scripts, AbsTransformToPosRpy is launched from hrpsys.launch, update opertm_args to use SimulationEC
update skip paramater
link SimulationEC
add depend package rviz to manifest.xml
add hrpsys_ros_bridge
add launch/darwin_ros_bridge.launch
add ImageSensorROSBRidge to hrp4 simulation
add rviz configuration file for samplerobot
fix to avoid segfualt error when grxui does not publish data
add frame_id, and fill dummy camera_info param, publish effort and use wait-interpolation
publish sensor pose through tf::TransformBroadcaster
add ImageSensorROSBridge
add samplerobot_ros_bridge.launch
update HrpsysSeqStateROSBridge read pose and publish as tf
update use /odom as root frame
add rviz configuration files for pa10 and hrp4c
add pa10_ros_bridge.launch
update to HrpsysSeqStateROSBridge
update hrpsysStatePublihser, to work with robot_state_publisher
rename hrprtc -> hrpsys
rename hrprtc_ros_bridge -> hrpsys_ros_bridge
Contributors: Atsushi.tsuda@gmail.com, Isao Isaac Saito, Kei Okada, Ryohei Ueda, chen.jsk@gmail.com, garaemon, garaemon@gmail.com, gm130s@gmail.com, ik0313, ik0313@gmail.com, kei.okada, kei.okada@gmail.com, manabu1118, manabu1118@gmail.com, murooka@jsk.imi.i.u-tokyo.ac.jp, nakaokat@gmail.com, notheworld, notheworld@gmail.com, nozawa, rtmrosrobotics.testing@gmail.com, tnaka, yk.at.jsk.\@gmail.com, yk.at.jsk@gmail.com, youhei, youhei@jsk.imi.i.u-tokyo.ac.jp

Wiki Tutorials

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

Package Dependencies

Deps	Name
	actionlib
	angles
	camera_info_manager
	collada_urdf
	control_msgs
	diagnostic_aggregator
	diagnostic_msgs
	dynamic_reconfigure
	euscollada
	hrpsys
	hrpsys_tools
	image_transport
	message_generation
	mk
	nav_msgs
	pr2_controllers_msgs
	pr2_msgs
	robot_pose_ekf
	robot_state_publisher
	rosbuild
	roscpp
	roslang
	rosnode
	rostest
	rqt_gui
	rqt_gui_py
	rqt_robot_dashboard
	rqt_robot_monitor
	rtmbuild
	sensor_msgs
	tf
	visualization_msgs
	geometry_msgs
	catkin

System Dependencies

Name
git
hostname
net-tools
pkg-config
procps
python-rosdep
subversion
ipython
python-psutil

Dependant Packages

Name	Deps
rtmros_common
hironx_ros_bridge

Launch files

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

Messages