BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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README.md
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@ -5,28 +5,28 @@
[![Sponsor](https://img.shields.io/badge/Sponsor-Robotics%20Sensors%20Research-red?style=for-the-badge&logo=github)](https://github.com/sponsors/Robotics-Sensors)
# Stats
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--------------------------------------------------------------------------------------------------------
# Repository Website
https://robotics-sensors.github.io/humanoid_robot_demos
https://robotics-sensors.github.io/humanoid_robot_intelligence_control_system_demos
--------------------------------------------------------------------------------------------------------
Updated Version [humanoid_robot_module](https://github.com/Robotics-Sensors/humanoid_robot_demos) readme.
Updated Version [humanoid_robot_intelligence_control_system_module](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos) readme.
Old Version/Previous Used for Different Context [ROBOTIS-OP3-Demo](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo) readme.
# Release
[![Latest Release](https://img.shields.io/github/v/release/Robotics-Sensors/humanoid_robot_tools?style=for-the-badge&color=yellow)](https://github.com/Robotics-Sensors/humanoid_robot_demos/releases/)
[![Latest Release](https://img.shields.io/github/v/release/Robotics-Sensors/humanoid_robot_intelligence_control_system_tools?style=for-the-badge&color=yellow)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/releases/)
# Contact
Depeding on the repository, If you are interested in accessing the complete version or other repository related to this repository, we kindly request that you reach out to the organization's director or the company behind this project. We invite you to explore the USE CASE to understand the specific terms and conditions for usage. To utilize this repository, it is imperative that you adhere to the guidelines outlined in the USE CASE. For those interested in showing their support, becoming a sponsor of the organization is an option, and detailed information can be found within the USE CASE and License documents. Furthermore, we encourage you to join our official Discord community, where you can engage with like-minded individuals, contribute to the project, and stay up-to-date with the latest developments. It's worth noting that while a fraction of research is publicly accessible, the majority remains private. To gain insights into the wealth of knowledge held by the Company or the organization's director, we recommend direct contact for more information.
@ -49,4 +49,4 @@ Latest versions and Maintainer is on organization https://github.com/Robotics-Se
* Ronaldson Bellande
## License
This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0), see [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE) for more information.
This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0), see [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE) for more information.

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humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst Normal file
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_intelligence_control_system_bringup
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)
------------------
* Make it compatible for ROS1/ROS2
* Fix bugs
* Update package.xml and CMakeList.txt for to the latest versions
* Contributors & Maintainer: Ronaldson Bellande
0.3.1 (2023-09-27)
------------------
* Starting from this point it under a new license
* Fix errors and Issues
* Rename Repository for a completely different purpose
* Make it compatible with ROS/ROS2
* Upgrade version of all builds and make it more compatible
* Update package.xml and CMakeList.txt for to the latest versions
* Contributors & Maintainer: Ronaldson Bellande
0.3.0 (2021-05-05)
------------------
* Update package.xml and CMakeList.txt for noetic branch
* Contributors: Ronaldson Bellande
0.1.0 (2018-04-19)
------------------
* first release for ROS Kinetic
* updated CMakeLists.txt and package.xml of humanoid_robot_intelligence_control_system_bringup
* changed rviz config file
* refacoring to release
* Contributors: Kayman, Pyo

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humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_intelligence_control_system_bringup)
if($ENV{ROS_VERSION} EQUAL 1)
find_package(catkin REQUIRED)
else()
find_package(ament_cmake REQUIRED)
endif()
if($ENV{ROS_VERSION} EQUAL 1)
catkin_package()
endif()
install(
DIRECTORY launch rviz
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

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humanoid_robot_intelligence_control_system_bringup/package.xml Normal file
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<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_intelligence_control_system_bringup</name>
<version>0.3.2</version>
<description>
This package is a demo for first time users.
There is an example in the demo where you can run and visualize the robot.
</description>
<license>Apache 2.0</license>
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_description</build_depend>
<build_depend condition="$ROS_VERSION == 1">usb_cam</build_depend>
<build_depend condition="$ROS_VERSION == 1">joint_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 1">robot_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 1">rviz</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_description</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">usb_cam</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">joint_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">robot_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">rviz</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_description</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">usb_cam</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">joint_state_publisher</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">robot_state_publisher</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">rviz</exec_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_description</build_depend>
<build_depend condition="$ROS_VERSION == 2">usb_cam</build_depend>
<build_depend condition="$ROS_VERSION == 2">joint_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 2">robot_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 2">rviz</build_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_description</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">usb_cam</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">joint_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">robot_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">rviz</build_export_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_description</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">usb_cam</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">joint_state_publisher</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">robot_state_publisher</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">rviz</exec_depend>
</package>

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humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
Splitter Ratio: 0.5
Tree Height: 352
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
body_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cam_gazebo_link:
Alpha: 1
Show Axes: false
Show Trail: false
cam_link:
Alpha: 1
Show Axes: false
Show Trail: false
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_ank_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_ank_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_el_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_hip_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_hip_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_hip_yaw_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_knee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_sho_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_sho_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_ank_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_ank_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_el_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_hip_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_hip_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_hip_yaw_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_knee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_sho_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_sho_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: true
Image Topic: /usb_cam_node/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
body_link:
Value: true
cam_gazebo_link:
Value: true
cam_link:
Value: true
head_pan_link:
Value: true
head_tilt_link:
Value: true
l_ank_pitch_link:
Value: true
l_ank_roll_link:
Value: true
l_el_link:
Value: true
l_hip_pitch_link:
Value: true
l_hip_roll_link:
Value: true
l_hip_yaw_link:
Value: true
l_knee_link:
Value: true
l_sho_pitch_link:
Value: true
l_sho_roll_link:
Value: true
r_ank_pitch_link:
Value: true
r_ank_roll_link:
Value: true
r_el_link:
Value: true
r_hip_pitch_link:
Value: true
r_hip_roll_link:
Value: true
r_hip_yaw_link:
Value: true
r_knee_link:
Value: true
r_sho_pitch_link:
Value: true
r_sho_roll_link:
Value: true
world:
Value: true
Marker Scale: 0.200000003
Name: TF
Show Arrows: false
Show Axes: true
Show Names: false
Tree:
world:
body_link:
head_pan_link:
head_tilt_link:
cam_gazebo_link:
{}
cam_link:
{}
l_hip_yaw_link:
l_hip_roll_link:
l_hip_pitch_link:
l_knee_link:
l_ank_pitch_link:
l_ank_roll_link:
{}
l_sho_pitch_link:
l_sho_roll_link:
l_el_link:
{}
r_hip_yaw_link:
r_hip_roll_link:
r_hip_pitch_link:
r_knee_link:
r_ank_pitch_link:
r_ank_roll_link:
{}
r_sho_pitch_link:
r_sho_roll_link:
r_el_link:
{}
Update Interval: 0
Value: true
- Alpha: 0.200000003
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: true
History Length: 1
Name: Imu
Topic: /humanoid_robot_intelligence_control_system/open_cr/imu
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: body_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.32116389
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.275397927
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.68858385
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1023
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000023300000358fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000001f1000000df00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000023a000001610000001800ffffff000000010000010f00000358fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004300000358000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000022400fffffffb0000000800540069006d00650100000000000004500000000000000000000005470000035800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 0

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humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_intelligence_control_system_read_write_demo)
if($ENV{ROS_VERSION} EQUAL 1)
find_package(
catkin REQUIRED COMPONENTS
humanoid_robot_intelligence_control_system_controller_msgs
roscpp
sensor_msgs
std_msgs
)
else()
find_package(ament_cmake REQUIRED)
endif()
if($ENV{ROS_VERSION} EQUAL 1)
catkin_package(
INCLUDE_DIRS
CATKIN_DEPENDS
roscpp
humanoid_robot_intelligence_control_system_controller_msgs
roscpp
sensor_msgs
std_msgs
)
endif()
include_directories(${catkin_INCLUDE_DIRS})
add_executable(
read_write
src/read_write.cpp
)
add_dependencies(
read_write
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(
read_write
${catkin_LIBRARIES}
)
install(
TARGETS read_write
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

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<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_intelligence_control_system_read_write_demo</name>
<version>0.3.2</version>
<description>
The humanoid_robot_intelligence_control_system_read_write_demo package
</description>
<license>Apache 2.0</license>
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
<build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">sensor_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</exec_depend>
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