For Install, See INSTALL
For API, See API Doc
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
Main directories are here (for more information, please see API Doc):
3rd party software installation cmake and settings.
For execution context implementations for real-time linux used for hrpsys-base software.
Library programs which can be used from outside of hrpsys-base. For example, IO libraries.
Sample programs. See Samples.
Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.
IDL files used for each RTC.
ROS related programs.
Test codes including python samples and rostest.
RT-Component implementations. Basically, one directory corresponds to one RT-Component.