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Package Summary
Basic RT components and utilities to control robots using OpenRTM
- Author: AIST, ROS package is maintained by Kei Okada
- License: EPL
- Source: svn https://rtm-ros-robotics.googlecode.com/svn/trunk/rtmros_common
Package Summary
An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
hrpsys package does not only wraps but build and installs the code from its mainstream repository (github.com/fkanehiro/hrpsys-base).
The package version number is synchronized to that of mainstream, based on this decision. Its semantics:
- MAJOR: Synchronized with OpenHRP3
- MINOR: Indicate IDL compatibility (packages with different version numbers in this section are NOT compatible)
- PATCH: Packages with different version numbers in this section ARE compatible.
API document is auto-generated on github.
- Maintainer status: developed
- Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Isaac Isao Saito <iisaito AT kinugarage DOT com>
- Author: AIST, Fumio Kanehiro
- License: EPL
- Bug / feature tracker: https://github.com/fkanehiro/hrpsys-base/issues
- Source: git https://github.com/start-jsk/hrpsys.git (branch: master)
Package Summary
An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
hrpsys package does not only wraps but build and installs the code from its mainstream repository (github.com/fkanehiro/hrpsys-base).
The package version number is synchronized to that of mainstream, based on this decision. Its semantics:
- MAJOR: Synchronized with OpenHRP3
- MINOR: Indicate IDL compatibility (packages with different version numbers in this section are NOT compatible)
- PATCH: Packages with different version numbers in this section ARE compatible.
API document is auto-generated on github.
- Maintainer status: developed
- Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Isaac Isao Saito <iisaito AT kinugarage DOT com>
- Author: AIST, Fumio Kanehiro
- License: EPL
- Bug / feature tracker: https://github.com/fkanehiro/hrpsys-base/issues
- Source: git https://github.com/start-jsk/hrpsys.git (branch: master)
Package Summary
An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
hrpsys package does not only wraps but build and installs the code from its mainstream repository (github.com/fkanehiro/hrpsys-base).
The package version number is synchronized to that of mainstream, based on this decision. Its semantics:
- MAJOR: Synchronized with OpenHRP3
- MINOR: Indicate IDL compatibility (packages with different version numbers in this section are NOT compatible)
- PATCH: Packages with different version numbers in this section ARE compatible.
API document is auto-generated on github.
- Maintainer status: developed
- Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>
- Author: AIST, Fumio Kanehiro
- License: EPL
- Bug / feature tracker: https://github.com/fkanehiro/hrpsys-base/issues
- Source: git https://github.com/fkanehiro/hrpsys-base.git (branch: master)
Package Summary
An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
hrpsys package does not only wraps but build and installs the code from its mainstream repository (github.com/fkanehiro/hrpsys-base).
The package version number is synchronized to that of mainstream, based on this decision. Its semantics:
- MAJOR: Synchronized with OpenHRP3
- MINOR: Indicate IDL compatibility (packages with different version numbers in this section are NOT compatible)
- PATCH: Packages with different version numbers in this section ARE compatible.
API document is auto-generated on github.
- Maintainer status: developed
- Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>
- Author: AIST, Fumio Kanehiro
- License: EPL
- Bug / feature tracker: https://github.com/fkanehiro/hrpsys-base/issues
- Source: git https://github.com/fkanehiro/hrpsys-base.git (branch: master)
Package Summary
An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
hrpsys package does not only wraps but build and installs the code from its mainstream repository (github.com/fkanehiro/hrpsys-base).
The package version number is synchronized to that of mainstream, based on this decision. Its semantics:
- MAJOR: Synchronized with OpenHRP3
- MINOR: Indicate IDL compatibility (packages with different version numbers in this section are NOT compatible)
- PATCH: Packages with different version numbers in this section ARE compatible.
API document is auto-generated on github.
- Maintainer status: developed
- Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>
- Author: AIST, Fumio Kanehiro
- License: EPL
- Bug / feature tracker: https://github.com/fkanehiro/hrpsys-base/issues
- Source: git https://github.com/fkanehiro/hrpsys-base.git (branch: master)
Package Summary
An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
hrpsys package does not only wraps but build and installs the code from its mainstream repository (github.com/fkanehiro/hrpsys-base).
The package version number is synchronized to that of mainstream, based on this decision. Its semantics:
- MAJOR: Synchronized with OpenHRP3
- MINOR: Indicate IDL compatibility (packages with different version numbers in this section are NOT compatible)
- PATCH: Packages with different version numbers in this section ARE compatible.
API document is auto-generated on github.
- Maintainer status: maintained
- Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>
- Author: AIST, Fumio Kanehiro
- License: EPL
- Bug / feature tracker: https://github.com/fkanehiro/hrpsys-base/issues
- Source: git https://github.com/fkanehiro/hrpsys-base.git (branch: master)
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DEVELOPMENTAL: This status indicates that this software is not yet production ready code. The software has some level of unit-testing. There are known issues and missing functionality. The APIs are unstable but unlikely to change drastically. Use in production systems will likely require modifications including improvements and/or bug fixes. For more information see the ROS-Industrial software status page. |
Software_Status(2f)Developmental/2Column.png "Developmental")
Contents
Robots compatible to hrpsys
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HRP2, (DRC2015 contender. ROS package not disclosed) |
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HRP4, (ROS package not disclosed) |
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Schaft, (DRC Trial 2013 winner) |
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Atlas on gazebo, Gazebo pkg |
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JAXON (DRC2015 contender) |
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AERO (DRC2015 contender) |
Documentation
API documentation is available on github.
For writing application, you can use some existing resource from one of the client packages of hrpsys, rtmros_hironx
Notable features
- Real-time capable utilizing OS feature
- Rich interface for kinematic operation
- Manipulator operation by the pose of end-effector (EEF linear interpolation)
- Manipulation by passing the set of joint angles (joint angle interpolation)
- 2 interpolation options; linear / minimum jerk
- Preemptive kinematic operation (canceleable and modifyable)
- Preemption can be disabled
- Plugins
- EEF compliance control plugin (using on force-torque sensor)
- EEF virtual force computation plugin (using joint torque values)
- Joint protection plugin
- Self interference detection plugin
- Servo module hand plugin
- Proven operational history
Development has been active over years at institutes such as the original developer AIST (National Institute of Advanced Industrial Science and Technology in Japan), JSK Lab at U-Tokyo.
- Dozens of thousands of operational time
- Number of robots are running atop
- Include 5 DRC contender robots (2013 and 2015)
- See above for the incomplete list of the hrpsys-based robots
- Active development status; 73 commits during month of June 2015 made by 5 authors
Community
For developer
Steps to release a new version
As a 3rd party package to ROS we need some extra chores to release. Discussed here. NOTE for 2 different repositories are involved:
Steps:
Send a pull request to fkanehiro/hrpsys-base to update a tag in CMakeLists.txt. Example. This way community will decide if we're ready for the next release.
Send a pull request to update start-jsk/hrpsys/Makefile.hrpsys-base. Example.
Send a pull request to update start-jsk/hrpsys/CHANGELOG.rst.
3-1. Use this script to copy commit messages from upstream fkanehiro/hrpsys-base.
3-2. Summarize commit messages into user-meaningful content (discussion).
3-3. (Rare) If there's an update in ROS repository (start-jsk/hrpsys), add change logs into the one created in 3-2. Maybe use catkin_generate_changelog command to auto-generate it, and manually merge.
After here follow the normal release manner: Update tags and package.xml by using catkin_prepare_release.
Notice that we're sending pull requests to two different repositories; one is the source upstream repository that isn't ROS-dependent, another repository is used to release a DEB using ROS infrastructure.