diff --git a/README.md b/README.md
index 619e927..9066ff0 100644
--- a/README.md
+++ b/README.md
@@ -5,28 +5,28 @@
[](https://github.com/sponsors/Robotics-Sensors)
# Stats
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/stargazers)
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/network)
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/watchers)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/stargazers)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/network)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/watchers)
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/issues)
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/pulls)
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/issues)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/pulls)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE)
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/commits)
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/commits)
+[](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos)
--------------------------------------------------------------------------------------------------------
# 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
-[](https://github.com/Robotics-Sensors/humanoid_robot_demos/releases/)
+[](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.
diff --git a/humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst
new file mode 100644
index 0000000..878e980
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst
@@ -0,0 +1,33 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+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
diff --git a/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt b/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt
new file mode 100644
index 0000000..b0f7a88
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt
@@ -0,0 +1,19 @@
+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}
+)
diff --git a/humanoid_robot_intelligence_control_system_bringup/package.xml b/humanoid_robot_intelligence_control_system_bringup/package.xml
new file mode 100644
index 0000000..2d44949
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/package.xml
@@ -0,0 +1,60 @@
+
+
+ humanoid_robot_intelligence_control_system_bringup
+ 0.3.2
+
+ This package is a demo for first time users.
+ There is an example in the demo where you can run and visualize the robot.
+
+ Apache 2.0
+ Ronaldson Bellande
+
+
+ catkin
+
+ humanoid_robot_intelligence_control_system_manager
+ humanoid_robot_intelligence_control_system_description
+ usb_cam
+ joint_state_publisher
+ robot_state_publisher
+ rviz
+
+ humanoid_robot_intelligence_control_system_manager
+ humanoid_robot_intelligence_control_system_description
+ usb_cam
+ joint_state_publisher
+ robot_state_publisher
+ rviz
+
+ humanoid_robot_intelligence_control_system_manager
+ humanoid_robot_intelligence_control_system_description
+ usb_cam
+ joint_state_publisher
+ robot_state_publisher
+ rviz
+
+
+ ament_cmake
+
+ humanoid_robot_intelligence_control_system_manager
+ humanoid_robot_intelligence_control_system_description
+ usb_cam
+ joint_state_publisher
+ robot_state_publisher
+ rviz
+
+ humanoid_robot_intelligence_control_system_manager
+ humanoid_robot_intelligence_control_system_description
+ usb_cam
+ joint_state_publisher
+ robot_state_publisher
+ rviz
+
+ humanoid_robot_intelligence_control_system_manager
+ humanoid_robot_intelligence_control_system_description
+ usb_cam
+ joint_state_publisher
+ robot_state_publisher
+ rviz
+
+
diff --git a/humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz b/humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz
new file mode 100644
index 0000000..3ba310a
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz
@@ -0,0 +1,357 @@
+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:
+ 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:
+ 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
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt b/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt
new file mode 100644
index 0000000..da225ca
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt
@@ -0,0 +1,57 @@
+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}
+)
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/package.xml b/humanoid_robot_intelligence_control_system_read_write_demo/package.xml
new file mode 100644
index 0000000..0efd54a
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_read_write_demo/package.xml
@@ -0,0 +1,53 @@
+
+
+ humanoid_robot_intelligence_control_system_read_write_demo
+ 0.3.2
+
+ The humanoid_robot_intelligence_control_system_read_write_demo package
+
+ Apache 2.0
+ Ronaldson Bellande
+
+
+ catkin
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_intelligence_control_system_controller_msgs
+ humanoid_robot_intelligence_control_system_manager
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_intelligence_control_system_controller_msgs
+ humanoid_robot_intelligence_control_system_manager
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_intelligence_control_system_controller_msgs
+ humanoid_robot_intelligence_control_system_manager
+
+
+ ament_cmake
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_intelligence_control_system_controller_msgs
+ humanoid_robot_intelligence_control_system_manager
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_intelligence_control_system_controller_msgs
+ humanoid_robot_intelligence_control_system_manager
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_intelligence_control_system_controller_msgs
+ humanoid_robot_intelligence_control_system_manager
+
+