Basic RT components and utilities to control robots using OpenRTM
C++ Python C CMake Java Shell Other
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3rdparty [3rdparty] Add 3rdparty directory based on #683 discussion (currently… Jul 29, 2015
cmake_modules supports OpenRTM-aist 1.2.0 Dec 2, 2016
cpack_modules changes directory where stub files are generated by postinst Dec 9, 2013
doc
ec [ec/hrpEC/hrpEC-common.cpp] Print gettimeofday time in ENABLE_DEBUG_P… Oct 26, 2016
idl [StabilizerService.idl, Stabilizer.*] rename variable and add functio… Nov 8, 2016
jython
launch [python/hrpsys_config.py, launch/samplerobot.launch] enable to use rf… Apr 11, 2016
lib add VisionSensorPortHandler intrinsic paramter to TimedCamera Jan 22, 2017
plugin fixes a bug in RobotHardwareClientView.java Aug 7, 2012
python [rtm.py] fix connecting to name server Dec 16, 2016
rtc [Stabilizer] reduce number of print messages Dec 24, 2016
sample [sample/SampleRobot/samplerobot_auto_balancer.py] Omit demoStandingPo… Dec 20, 2016
test
util
.dir-locals.el add small setting to make emacs people happy Nov 27, 2014
.gitignore *adds a line for emacs backup files Dec 1, 2014
.travis.sh [.travis.sh] Print if rosunit_xml_result_files exists Dec 19, 2015
.travis.yml [test/test-samplerobot-st.test, .travis.yml] Add test for samplerobot… Dec 18, 2015
CHANGELOG.rst 315.10.1 Oct 8, 2016
CMakeLists.txt supports OpenRTM-aist 1.2.0 Dec 2, 2016
INSTALL updates INSTALL Apr 17, 2014
LICENSE-en.txt
README.md [README.md] Add documentation for directories, papers, and ros wiki Apr 12, 2016
hrpsys-base.pc.in fix version in hrpsys-base.pc Jun 1, 2016
package.xml 315.10.1 Oct 8, 2016

README.md

Build Status

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.