Install

For Install, See INSTALL

API

For API, See API Doc

Samples

For Samples, See Samples

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, “Multi-layered real-time controllers for humanoid’s manipulation and locomotion tasks with emergency stop”, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

Directories

Main directories are here (for more information, please see API Doc):

3rdparty

3rd party software installation cmake and settings.

ec

For execution context implementations for real-time linux used for hrpsys-base software.

python/jython

python/jython files.

lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

sample

Sample programs. See Samples.

util

Utilities.

doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

idl

IDL files used for each RTC.

launch

ROS related programs.

test

Test codes including python samples and rostest.

rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.