Robots compatible to hrpsys

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

• Mailing list: http://groups.google.com/d/forum/rtm-ros-robotics

• Issues, feature requests.

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:

• Upstream source repository (fkanehiro/hrpsys-base)

• ROS repository (start-jsk/hrpsys)

Steps:

1. 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.

2. Send a pull request to update start-jsk/hrpsys/Makefile.hrpsys-base. Example.

3. 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.

4. 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.