Merge pull request #8 from RonaldsonBellande/main

latest changes

.github/workflows/cmake.yml

@@ -2,76 +2,36 @@ name: CMake
 
 on:
   push:
-    branches: [ master ]
+    branches: [ noetic ]
   pull_request:
-    branches: [ master ]
+    branches: [ noetic ]
 
 env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Release
 
 jobs:
   build:
+    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
+    # You can convert this to a matrix build if you need cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
     runs-on: ubuntu-latest
+
     steps:
     - uses: actions/checkout@v3
 
-    - name: Configure CMake 1
-      run: cmake -E make_directory ${{runner.workspace}}/op3_ball_detector/build
-      
-    - name: Configure CMake 2
-      run: cmake -E make_directory ${{runner.workspace}}/op3_bringup/build
-      
-    - name: Configure CMake 2
-      run: cmake -E make_directory ${{runner.workspace}}/op3_demo/build
-      
-    - name: Configure CMake 4
-      run: cmake -E make_directory ${{runner.workspace}}/op3_read_write_demo/build    
-    
-    - name: Configure CMake 5
-      run: cmake -E make_directory ${{runner.workspace}}/robotis_op3_demo/build 
-      
-          
-          
-    - name: Install dependencies
-      shell: bash
-      run: sudo apt-get update ; sudo apt-get install <system_requirements.txt ; sudo apt-get install <ros_requirements.txt ;
-        python3 -m pip install -r requirements.txt
-            
-            
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
 
-    - name: Build 1
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_ball_detector/build --config ${{env.BUILD_TYPE}}
-      
-    - name: Build 2
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_bringup/build --config ${{env.BUILD_TYPE}}
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
 
-    - name: Build 3
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_demo/build --config ${{env.BUILD_TYPE}}
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # Execute tests defined by the CMake configuration.  
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C ${{env.BUILD_TYPE}}
       
-    - name: Build 4      
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_read_write_demo/build --config ${{env.BUILD_TYPE}}
-
-    - name: Build 5      
-      run: cmake -E  make_directory --build ${{runner.workspace}}/robotis_op3_demo/build --config ${{env.BUILD_TYPE}}
- 
- 
- 
-    - name: Test 1
-      working-directory: ${{runner.workspace}}/op3_ball_detector/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 2
-      working-directory: ${{runner.workspace}}/op3_bringup/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 3
-      working-directory: ${{runner.workspace}}/op3_demo/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 4
-      working-directory: ${{runner.workspace}}/op3_read_write_demo/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 5
-      working-directory: ${{runner.workspace}}/robotis_op3_demo/build
-      run: ctest -C $BUILD_TYPE --output-on-failure

.gitignore

@@ -9,3 +9,13 @@ qtcreator-build
 *.backup
 *.user
 *.autosave
+
+# Scripts
+init_setup.sh
+repository_recal.sh
+push.sh
+publish.sh
+ros_publish.sh
+prerelease_test.sh
+fix_errors.sh
+replace_add_index.sh

.robotis_op3_demo.rosinstall

@@ -1,2 +0,0 @@
-- git: {local-name: robotis_op3_tools, uri: 'https://github.com/Robotics-Sensors/ROBOTIS-OP3-Tools.git', version: noetic}
-- git: {local-name: humanoid_navigation, uri: 'https://github.com/Robotics-Sensors/humanoid_navigation.git', version: noetic}

.travis.yml

@@ -18,7 +18,7 @@ notifications:
       - ronaldsonbellande@gmail.com
 env:
   matrix:
-  - ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file   OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".robotis_op3_demo.rosinstall"
+  - ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file   OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".humanoid_robot_demo.rosinstall"
 branches:
   only:
     - master

README.md

@@ -1,36 +1,20 @@
-# ROBOTIS OP3
-<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/op3/default_op3.jpg" width="40%" />  
+# ROS/ROS2 Humanoid Robot Demos
 
-## ROS Packages for ROBOTIS OP3 Demo
-|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
-|:---:|:---:|:---:|
-|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-OP3-Demo.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-OP3-Demo)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-OP3-Demo.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-OP3-Demo)|-|
+--------------------------------------------------------------------------------------------------------
+Updated Version [humanoid_robot_module](https://github.com/Robotics-Sensors/humanoid_robot_demos) readme.
 
-## ROBOTIS e-Manual for ROBOTIS OP3
-- [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/)
+--------------------------------------------------------------------------------------------------------
+## Important
+The repository has diverged, as the old commits and codes are under the previous License and
+the new commits and codes are under New License
 
-## Wiki for robotis_op3_demo Packages
-- http://wiki.ros.org/robotis_op3_demo (metapackage)
-- http://wiki.ros.org/op3_ball_detector
-- http://wiki.ros.org/op3_bringup
-- http://wiki.ros.org/op3_demo
+--------------------------------------------------------------------------------------------------------
+Latest versions and Maintainer is on organization https://github.com/Robotics-Sensors
 
-## Open Source related to ROBOTIS OP3
-- [robotis_op3](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3)
-- [robotis_op3_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs)
-- [robotis_op3_common](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common)
-- [robotis_op3_tools](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools)
-- [robotis_op3_demo](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo)
-- [robotis_framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework)
-- [robotis_controller_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs)
-- [robotis_utility](https://github.com/ROBOTIS-GIT/ROBOTIS-Utility)
-- [robotis_math](https://github.com/ROBOTIS-GIT/ROBOTIS-Math)
-- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
-- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
-- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 
-## Documents and Videos related to ROBOTIS OP3
-- [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/)
-- [ROBOTIS e-Manual for ROBOTIS THORMANG3](http://emanual.robotis.com/docs/en/platform/thormang3/introduction/)
-- [ROBOTIS e-Manual for ROBOTIS Framework](http://emanual.robotis.com/docs/en/software/robotis_framework_packages/)
-- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
+
+### Maintainer
+* 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.

catkin_setup.sh

@@ -1,5 +0,0 @@
-#!/bin/bash
-
-catkin build 
-source "/opt/ros/noetic/setup.bash"
-source "$CATKIN_WS/devel/setup.bash"

humanoid_robot_ball_detector/CHANGELOG.rst

@@ -0,0 +1,27 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package humanoid_robot_ball_detector
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+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
+* added launch files in order to move the camera setting to humanoid_robot_camera_setting package
+* added missing package in find_package()
+* refacoring to release
+* split repositoryfrom ROBOTIS-HUMANOID_ROBOT
+* Contributors: Kayman, Zerom, Pyo

humanoid_robot_ball_detector/CMakeLists.txt

@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 3.0.2)
-project(op3_ball_detector)
+project(humanoid_robot_ball_detector)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies

humanoid_robot_ball_detector/cfg/DetectorParams.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='op3_ball_detector'
+PACKAGE='humanoid_robot_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

humanoid_robot_ball_detector/cfg/DetectorParamsBlue.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='op3_ball_detector'
+PACKAGE='humanoid_robot_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

humanoid_robot_ball_detector/cfg/DetectorParamsRed.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='op3_ball_detector'
+PACKAGE='humanoid_robot_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h

@@ -36,14 +36,14 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <yaml-cpp/yaml.h>
 
-#include "op3_ball_detector/ball_detector_config.h"
+#include "humanoid_robot_ball_detector/ball_detector_config.h"
 
-#include "op3_ball_detector/CircleSetStamped.h"
-#include "op3_ball_detector/DetectorParamsConfig.h"
-#include "op3_ball_detector/GetParameters.h"
-#include "op3_ball_detector/SetParameters.h"
+#include "humanoid_robot_ball_detector/CircleSetStamped.h"
+#include "humanoid_robot_ball_detector/DetectorParamsConfig.h"
+#include "humanoid_robot_ball_detector/GetParameters.h"
+#include "humanoid_robot_ball_detector/SetParameters.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 class BallDetector {
 public:
@@ -71,15 +71,15 @@ protected:
   // callbacks to camera info subscription
   void cameraInfoCallback(const sensor_msgs::CameraInfo &msg);
 
-  void dynParamCallback(op3_ball_detector::DetectorParamsConfig &config,
+  void dynParamCallback(humanoid_robot_ball_detector::DetectorParamsConfig &config,
                         uint32_t level);
   void enableCallback(const std_msgs::Bool::ConstPtr &msg);
 
   void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
-  bool setParamCallback(op3_ball_detector::SetParameters::Request &req,
-                        op3_ball_detector::SetParameters::Response &res);
-  bool getParamCallback(op3_ball_detector::GetParameters::Request &req,
-                        op3_ball_detector::GetParameters::Response &res);
+  bool setParamCallback(humanoid_robot_ball_detector::SetParameters::Request &req,
+                        humanoid_robot_ball_detector::SetParameters::Response &res);
+  bool getParamCallback(humanoid_robot_ball_detector::GetParameters::Request &req,
+                        humanoid_robot_ball_detector::GetParameters::Response &res);
   void resetParameter();
   void publishParam();
 
@@ -117,7 +117,7 @@ protected:
   int not_found_count_;
 
   // circle set publisher
-  op3_ball_detector::CircleSetStamped circles_msg_;
+  humanoid_robot_ball_detector::CircleSetStamped circles_msg_;
   ros::Publisher circles_pub_;
 
   // camera info subscriber
@@ -159,11 +159,11 @@ protected:
   cv::Mat in_image_;
   cv::Mat out_image_;
 
-  dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig>
+  dynamic_reconfigure::Server<humanoid_robot_ball_detector::DetectorParamsConfig>
       param_server_;
   dynamic_reconfigure::Server<
-      op3_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
+      humanoid_robot_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
 };
 
-} // namespace robotis_op
+} // namespace humanoid_robot_op
 #endif // _BALL_DETECTOR_H_

humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector_config.h

@@ -19,7 +19,7 @@
 #ifndef _DETECTOR_CONFIG_H_
 #define _DETECTOR_CONFIG_H_
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 // constants
 const int GAUSSIAN_BLUR_SIZE_DEFAULT = 7;
@@ -86,5 +86,5 @@ public:
   ~DetectorConfig() {}
 };
 
-} // namespace robotis_op
+} // namespace humanoid_robot_op
 #endif // _DETECTOR_CONFIG_H_

humanoid_robot_ball_detector/launch/ball_detector.launch

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="config_path" default="$(find op3_ball_detector)/config/ball_detector_params.yaml" />
+  <arg name="config_path" default="$(find humanoid_robot_ball_detector)/config/ball_detector_params.yaml" />
 
   <!-- ball detector -->
-  <node pkg="op3_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
+  <node pkg="humanoid_robot_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
     <rosparam command="load" file="$(arg config_path)" />
     <param name="yaml_path" type="string" value="$(arg config_path)" />
     <remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />

humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch

@@ -23,5 +23,5 @@
   </node>
 
   <!-- ball detector -->
-  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find humanoid_robot_ball_detector)/launch/ball_detector.launch" />
 </launch>

humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch

@@ -28,5 +28,5 @@
   <!-- <param name="white_balance_temperature" value="2800" />    -->
 
   <!-- ball detector -->
-  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find humanoid_robot_ball_detector)/launch/ball_detector.launch" />
 </launch>

humanoid_robot_ball_detector/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>op3_ball_detector</name>
+  <name>humanoid_robot_ball_detector</name>
   <version>0.1.0</version>
   <description>
     This package implements a circle-like shape detector of the input image
@@ -8,15 +8,8 @@
     and a stamped array of circle centers and radius.
   </description>
   <license>Apache 2.0</license>
-  <author email="kmjung@robotis.com">Kayman</author>
-  <author email="zerom@robotis.com">Zerom</author>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <url type="website">http://wiki.ros.org/op3_ball_detector</url>
-  <url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
-  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
-  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
-
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roscpp</build_depend>

humanoid_robot_ball_detector/src/ball_detector.cpp

@@ -18,9 +18,9 @@
 
 #include <fstream>
 
-#include "op3_ball_detector/ball_detector.h"
+#include "humanoid_robot_ball_detector/ball_detector.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 BallDetector::BallDetector()
     : nh_(ros::this_node::getName()), it_(this->nh_), enable_(true),
@@ -88,7 +88,7 @@ BallDetector::BallDetector()
   // sets publishers
   image_pub_ = it_.advertise("image_out", 100);
   circles_pub_ =
-      nh_.advertise<op3_ball_detector::CircleSetStamped>("circle_set", 100);
+      nh_.advertise<humanoid_robot_ball_detector::CircleSetStamped>("circle_set", 100);
   camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 100);
 
   // sets subscribers
@@ -106,7 +106,7 @@ BallDetector::BallDetector()
 
   // web setting
   param_pub_ =
-      nh_.advertise<op3_ball_detector::BallDetectorParams>("current_params", 1);
+      nh_.advertise<humanoid_robot_ball_detector::BallDetectorParams>("current_params", 1);
   param_command_sub_ = nh_.subscribe("param_command", 1,
                                      &BallDetector::paramCommandCallback, this);
   set_param_client_ =
@@ -243,7 +243,7 @@ void BallDetector::imageCallback(const sensor_msgs::ImageConstPtr &msg) {
 }
 
 void BallDetector::dynParamCallback(
-    op3_ball_detector::DetectorParamsConfig &config, uint32_t level) {
+    humanoid_robot_ball_detector::DetectorParamsConfig &config, uint32_t level) {
   params_config_.gaussian_blur_size = config.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = config.gaussian_blur_sigma;
   params_config_.canny_edge_th = config.canny_edge_th;
@@ -299,8 +299,8 @@ void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg) {
 }
 
 bool BallDetector::setParamCallback(
-    op3_ball_detector::SetParameters::Request &req,
-    op3_ball_detector::SetParameters::Response &res) {
+    humanoid_robot_ball_detector::SetParameters::Request &req,
+    humanoid_robot_ball_detector::SetParameters::Response &res) {
   params_config_.gaussian_blur_size = req.params.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = req.params.gaussian_blur_sigma;
   params_config_.canny_edge_th = req.params.canny_edge_th;
@@ -325,8 +325,8 @@ bool BallDetector::setParamCallback(
 }
 
 bool BallDetector::getParamCallback(
-    op3_ball_detector::GetParameters::Request &req,
-    op3_ball_detector::GetParameters::Response &res) {
+    humanoid_robot_ball_detector::GetParameters::Request &req,
+    humanoid_robot_ball_detector::GetParameters::Response &res) {
   res.returns.gaussian_blur_size = params_config_.gaussian_blur_size;
   res.returns.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
   res.returns.canny_edge_th = params_config_.canny_edge_th;
@@ -399,7 +399,7 @@ void BallDetector::resetParameter() {
 }
 
 void BallDetector::publishParam() {
-  op3_ball_detector::BallDetectorParams params;
+  humanoid_robot_ball_detector::BallDetectorParams params;
 
   params.gaussian_blur_size = params_config_.gaussian_blur_size;
   params.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
@@ -892,4 +892,4 @@ void BallDetector::drawOutputImage() {
              0); // circle outline in blue
 }
 
-} // namespace robotis_op
+} // namespace humanoid_robot_op

humanoid_robot_ball_detector/src/ball_detector_node.cpp

@@ -16,7 +16,7 @@
 
 /* Author: Kayman Jung */
 
-#include "op3_ball_detector/ball_detector.h"
+#include "humanoid_robot_ball_detector/ball_detector.h"
 
 // node main
 int main(int argc, char **argv) {
@@ -24,7 +24,7 @@ int main(int argc, char **argv) {
   ros::init(argc, argv, "ball_detector_node");
 
   // create ros wrapper object
-  robotis_op::BallDetector detector;
+  humanoid_robot_op::BallDetector detector;
 
   // set node loop rate
   ros::Rate loop_rate(30);

humanoid_robot_bringup/CHANGELOG.rst

@@ -0,0 +1,26 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package humanoid_robot_bringup
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+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_bringup
+* changed rviz config file
+* refacoring to release
+* Contributors: Kayman, Pyo

humanoid_robot_bringup/CMakeLists.txt

@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 3.0.2)
-project(op3_bringup)
+project(humanoid_robot_bringup)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies

humanoid_robot_bringup/launch/humanoid_robot_bringup.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- OP3 Manager -->
-  <include file="$(find op3_manager)/launch/op3_manager.launch" />
+  <!-- HUMANOID_ROBOT Manager -->
+  <include file="$(find humanoid_robot_manager)/launch/humanoid_robot_manager.launch" />
 
   <!-- UVC camera -->
   <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">

humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch

@@ -1,18 +1,18 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find humanoid_robot_description)/urdf/humanoid_robot.urdf.xacro'" />
 
   <!-- Send fake joint values and monitoring present joint angle -->
   <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
     <param name="use_gui" value="TRUE" />
-    <rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
+    <rosparam param="/source_list">[/humanoid_robot/present_joint_states]</rosparam>
   </node>
 
   <!-- Combine joint values -->
   <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
-    <remap from="/joint_states" to="/robotis/present_joint_states" />
+    <remap from="/joint_states" to="/humanoid_robot/present_joint_states" />
   </node>
 
   <!-- Show in Rviz   -->
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz" />
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find humanoid_robot_bringup)/rviz/humanoid_robot_bringup.rviz" />
 </launch>

humanoid_robot_bringup/package.xml

@@ -1,38 +1,32 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>op3_bringup</name>
+  <name>humanoid_robot_bringup</name>
   <version>0.3.0</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>
-  <author email="kmjung@robotis.com">Kayman</author>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <url type="website">http://wiki.ros.org/op3_bringup</url>
-  <url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
-  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
-  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
-
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>op3_manager</build_depend>
-  <build_depend>op3_description</build_depend>
+  <build_depend>humanoid_robot_manager</build_depend>
+  <build_depend>humanoid_robot_description</build_depend>
   <build_depend>usb_cam</build_depend>
   <build_depend>joint_state_publisher</build_depend>
   <build_depend>robot_state_publisher</build_depend>
   <build_depend>rviz</build_depend>
 
-  <build_export_depend>op3_manager</build_export_depend>
-  <build_export_depend>op3_description</build_export_depend>
+  <build_export_depend>humanoid_robot_manager</build_export_depend>
+  <build_export_depend>humanoid_robot_description</build_export_depend>
   <build_export_depend>usb_cam</build_export_depend>
   <build_export_depend>joint_state_publisher</build_export_depend>
   <build_export_depend>robot_state_publisher</build_export_depend>
   <build_export_depend>rviz</build_export_depend>
 
-  <exec_depend>op3_manager</exec_depend>
-  <exec_depend>op3_description</exec_depend>
+  <exec_depend>humanoid_robot_manager</exec_depend>
+  <exec_depend>humanoid_robot_description</exec_depend>
   <exec_depend>usb_cam</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz

@@ -287,7 +287,7 @@ Visualization Manager:
       Enabled: true
       History Length: 1
       Name: Imu
-      Topic: /robotis/open_cr/imu
+      Topic: /humanoid_robot/open_cr/imu
       Unreliable: false
       Value: true
   Enabled: true

humanoid_robot_demo/CHANGELOG.rst

@@ -0,0 +1,27 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package humanoid_robot_demo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+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
+* added launch files in order to move the camera setting to humanoid_robot_camera_setting package
+* added missing package in find_package()
+* refacoring to release
+* split repositoryfrom ROBOTIS-HUMANOID_ROBOT
+* Contributors: Kayman, Zerom, Yoshimaru Tanaka, Pyo

humanoid_robot_demo/CMakeLists.txt

@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 3.0.2)
-project(op3_demo)
+project(humanoid_robot_demo)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies
@@ -14,12 +14,12 @@ find_package(
   std_msgs
   sensor_msgs
   geometry_msgs
-  robotis_controller_msgs
-  op3_walking_module_msgs
-  op3_action_module_msgs
+  humanoid_robot_controller_msgs
+  humanoid_robot_walking_module_msgs
+  humanoid_robot_action_module_msgs
   cmake_modules
-  robotis_math
-  op3_ball_detector
+  humanoid_robot_math
+  humanoid_robot_ball_detector
 )
 
 find_package(Boost REQUIRED COMPONENTS thread)
@@ -69,12 +69,12 @@ catkin_package(
   std_msgs
   sensor_msgs
   geometry_msgs
-  robotis_controller_msgs
-  op3_walking_module_msgs
-  op3_action_module_msgs
+  humanoid_robot_controller_msgs
+  humanoid_robot_walking_module_msgs
+  humanoid_robot_action_module_msgs
   cmake_modules
-  robotis_math
-  op3_ball_detector
+  humanoid_robot_math
+  humanoid_robot_ball_detector
   DEPENDS Boost EIGEN3
 )
 

humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst

@@ -0,0 +1,29 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package humanoid_robot_demo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+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
+* added launch files in order to move the camera setting to humanoid_robot_camera_setting package
+* added missing package in find_package()
+* updated CMakeLists.txt and package.xml of humanoid_robot_bringup
+* changed rviz config file
+* refacoring to release
+* split repositoryfrom ROBOTIS-HUMANOID_ROBOT
+* Contributors: Kayman, Zerom, Yoshimaru Tanaka, Pyo

humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt

@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(robotis_op3_demo)
+project(humanoid_robot_demo)
 find_package(catkin REQUIRED)
 catkin_metapackage()

humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>humanoid_robot_demo</name>
+  <version>0.3.0</version>
+  <description>
+    ROS packages for the humanoid_robot_demo (meta package)
+  </description>
+  <license>Apache 2.0</license>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>humanoid_robot_ball_detector</build_depend>
+  <build_depend>humanoid_robot_bringup</build_depend>
+  <build_depend>humanoid_robot_demo</build_depend>
+
+  <build_export_depend>humanoid_robot_ball_detector</build_export_depend>
+  <build_export_depend>humanoid_robot_bringup</build_export_depend>
+  <build_export_depend>humanoid_robot_demo</build_export_depend>
+
+  <exec_depend>humanoid_robot_ball_detector</exec_depend>
+  <exec_depend>humanoid_robot_bringup</exec_depend>
+  <exec_depend>humanoid_robot_demo</exec_depend>
+
+  <export>
+    <metapackage />
+  </export>
+</package>

humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h

@@ -27,12 +27,12 @@
 #include <boost/thread.hpp>
 #include <yaml-cpp/yaml.h>
 
-#include "op3_action_module_msgs/IsRunning.h"
-#include "op3_demo/op_demo.h"
-#include "robotis_controller_msgs/JointCtrlModule.h"
-#include "robotis_controller_msgs/SetModule.h"
+#include "humanoid_robot_action_module_msgs/IsRunning.h"
+#include "humanoid_robot_demo/op_demo.h"
+#include "humanoid_robot_controller_msgs/JointCtrlModule.h"
+#include "humanoid_robot_controller_msgs/SetModule.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 class ActionDemo : public OPDemo {
 public:
@@ -109,6 +109,6 @@ protected:
   int play_status_;
 };
 
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
 
 #endif /* ACTION_DEMO_H_ */

humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h

@@ -29,12 +29,12 @@
 #include <std_msgs/String.h>
 #include <yaml-cpp/yaml.h>
 
-#include "op3_ball_detector/CircleSetStamped.h"
-#include "op3_walking_module_msgs/GetWalkingParam.h"
-#include "op3_walking_module_msgs/WalkingParam.h"
-#include "robotis_controller_msgs/JointCtrlModule.h"
+#include "humanoid_robot_ball_detector/CircleSetStamped.h"
+#include "humanoid_robot_walking_module_msgs/GetWalkingParam.h"
+#include "humanoid_robot_walking_module_msgs/WalkingParam.h"
+#include "humanoid_robot_controller_msgs/JointCtrlModule.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 // following the ball using walking
 class BallFollower {
@@ -109,7 +109,7 @@ protected:
   // (x, y) is the center position of the ball in image coordinates
   // z is the ball radius
   geometry_msgs::Point ball_position_;
-  op3_walking_module_msgs::WalkingParam current_walking_param_;
+  humanoid_robot_walking_module_msgs::WalkingParam current_walking_param_;
 
   int count_not_found_;
   int count_to_kick_;
@@ -124,6 +124,6 @@ protected:
   double curr_period_time_;
   double accum_period_time_;
 };
-} // namespace robotis_op
+} // namespace humanoid_robot_op
 
 #endif /* BALL_FOLLOWER_H_ */

humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h

@@ -28,12 +28,12 @@
 #include <std_msgs/String.h>
 #include <yaml-cpp/yaml.h>
 
-#include "op3_ball_detector/CircleSetStamped.h"
-#include "op3_walking_module_msgs/GetWalkingParam.h"
-#include "op3_walking_module_msgs/WalkingParam.h"
-#include "robotis_controller_msgs/JointCtrlModule.h"
+#include "humanoid_robot_ball_detector/CircleSetStamped.h"
+#include "humanoid_robot_walking_module_msgs/GetWalkingParam.h"
+#include "humanoid_robot_walking_module_msgs/WalkingParam.h"
+#include "humanoid_robot_controller_msgs/JointCtrlModule.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 // head tracking for looking the ball
 class BallTracker {
@@ -73,7 +73,7 @@ protected:
   const bool DEBUG_PRINT;
 
   void ballPositionCallback(
-      const op3_ball_detector::CircleSetStamped::ConstPtr &msg);
+      const humanoid_robot_ball_detector::CircleSetStamped::ConstPtr &msg);
   void ballTrackerCommandCallback(const std_msgs::String::ConstPtr &msg);
   void publishHeadJoint(double pan, double tilt);
   void scanBall();
@@ -108,6 +108,6 @@ protected:
   ros::Time prev_time_;
   double p_gain_, d_gain_, i_gain_;
 };
-} // namespace robotis_op
+} // namespace humanoid_robot_op
 
 #endif /* BALL_TRACKING_H_ */

humanoid_robot_demo/include/humanoid_robot_demo/button_test.h

@@ -24,10 +24,10 @@
 #include <ros/ros.h>
 #include <std_msgs/String.h>
 
-#include "op3_demo/op_demo.h"
-#include "robotis_controller_msgs/SyncWriteItem.h"
+#include "humanoid_robot_demo/op_demo.h"
+#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 class ButtonTest : public OPDemo {
 public:
@@ -61,6 +61,6 @@ protected:
   int rgb_led_count_;
 };
 
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
 
 #endif /* BUTTON_TEST_H_ */

humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h

@@ -29,7 +29,7 @@
 #include <std_msgs/String.h>
 #include <yaml-cpp/yaml.h>
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 // head tracking for looking the ball
 class FaceTracker {
@@ -89,6 +89,6 @@ protected:
 
   int dismissed_count_;
 };
-} // namespace robotis_op
+} // namespace humanoid_robot_op
 
 #endif /* FACE_TRACKING_H_ */

humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h

@@ -25,10 +25,10 @@
 #include <signal.h>
 #include <std_msgs/String.h>
 
-#include "op3_demo/op_demo.h"
-#include "robotis_controller_msgs/SyncWriteItem.h"
+#include "humanoid_robot_demo/op_demo.h"
+#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 class MicTest : public OPDemo {
 public:
@@ -81,6 +81,6 @@ protected:
   int test_status_;
 };
 
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
 
 #endif /* MIC_TEST_H_ */

humanoid_robot_demo/include/humanoid_robot_demo/op_demo.h

@@ -19,7 +19,7 @@
 #ifndef OP_DEMO_H_
 #define OP_DEMO_H_
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 class OPDemo {
 public:
@@ -44,6 +44,6 @@ protected:
   bool enable_;
 };
 
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
 
 #endif /* OP_DEMO_H_ */

humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h

@@ -26,17 +26,17 @@
 #include <std_msgs/String.h>
 #include <yaml-cpp/yaml.h>
 
-#include "op3_action_module_msgs/IsRunning.h"
-#include "robotis_controller_msgs/JointCtrlModule.h"
-#include "robotis_controller_msgs/SetJointModule.h"
-#include "robotis_controller_msgs/SyncWriteItem.h"
+#include "humanoid_robot_action_module_msgs/IsRunning.h"
+#include "humanoid_robot_controller_msgs/JointCtrlModule.h"
+#include "humanoid_robot_controller_msgs/SetJointModule.h"
+#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
 
-#include "op3_demo/ball_follower.h"
-#include "op3_demo/ball_tracker.h"
-#include "op3_demo/op_demo.h"
-#include "robotis_math/robotis_linear_algebra.h"
+#include "humanoid_robot_demo/ball_follower.h"
+#include "humanoid_robot_demo/ball_tracker.h"
+#include "humanoid_robot_demo/op_demo.h"
+#include "humanoid_robot_math/humanoid_robot_linear_algebra.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 class SoccerDemo : public OPDemo {
 public:
@@ -74,7 +74,7 @@ protected:
                            bool with_head_control = true);
   void setModuleToDemo(const std::string &module_name);
   void callServiceSettingModule(
-      const robotis_controller_msgs::JointCtrlModule &modules);
+      const humanoid_robot_controller_msgs::JointCtrlModule &modules);
   void parseJointNameFromYaml(const std::string &path);
   bool getJointNameFromID(const int &id, std::string &joint_name);
   bool getIDFromJointName(const std::string &joint_name, int &id);
@@ -130,5 +130,5 @@ protected:
   double present_pitch_;
 };
 
-} // namespace robotis_op
+} // namespace humanoid_robot_op
 #endif // SOCCER_DEMO_H

humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h

@@ -25,13 +25,13 @@
 #include <std_msgs/Int32MultiArray.h>
 #include <std_msgs/String.h>
 
-#include "robotis_controller_msgs/SetModule.h"
-#include "robotis_controller_msgs/SyncWriteItem.h"
+#include "humanoid_robot_controller_msgs/SetModule.h"
+#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
 
-#include "op3_demo/face_tracker.h"
-#include "op3_demo/op_demo.h"
+#include "humanoid_robot_demo/face_tracker.h"
+#include "humanoid_robot_demo/op_demo.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 class VisionDemo : public OPDemo {
 public:
@@ -78,6 +78,6 @@ protected:
   int tracking_status_;
 };
 
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
 
 #endif /* VISION_DEMO_H_ */

humanoid_robot_demo/launch/demo.launch

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- humanoid_robot humanoid_robot manager -->
+  <include file="$(find humanoid_robot_manager)/launch/humanoid_robot_manager.launch" />
+
+  <!-- Camera and Ball detector -->
+  <include file="$(find humanoid_robot_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
+
+  <!-- face tracking -->
+  <!-- <include file="$(find humanoid_robot_demo)/launch/face_detection_humanoid_robot.launch" /> -->
+
+  <!-- camera setting tool -->
+  <include file="$(find humanoid_robot_camera_setting_tool)/launch/humanoid_robot_camera_setting_tool.launch" />
+
+  <!-- sound player -->
+  <node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
+
+  <!-- web setting -->
+  <include file="$(find humanoid_robot_web_setting_tool)/launch/web_setting_server.launch" />
+
+  <!-- humanoid_robot humanoid_robot demo -->
+  <node pkg="humanoid_robot_demo" type="op_demo_node" name="humanoid_robot_demo" output="screen">
+    <param name="grass_demo" type="bool" value="False" />
+    <param name="p_gain" value="0.45" />
+    <param name="d_gain" value="0.045" />
+  </node>
+
+</launch>

humanoid_robot_demo/launch/self_test.launch

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<!-- Launches an UVC camera, the ball detector and its visualization  -->
+<launch>
+  <!-- humanoid_robot humanoid_robot manager -->
+  <include file="$(find humanoid_robot_manager)/launch/humanoid_robot_manager.launch" />
+
+  <!-- Camera and Ball detector -->
+  <include file="$(find humanoid_robot_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
+
+  <!-- face tracking -->
+  <include file="$(find humanoid_robot_demo)/launch/face_detection_humanoid_robot.launch" />
+
+  <!-- camera setting tool -->
+  <include file="$(find humanoid_robot_camera_setting_tool)/launch/humanoid_robot_camera_setting_tool.launch" />
+
+  <!-- sound player -->
+  <node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
+
+  <!-- web setting -->
+  <include file="$(find humanoid_robot_web_setting_tool)/launch/web_setting_server.launch" />
+
+  <!-- humanoid_robot humanoid_robot self test demo -->
+  <node pkg="humanoid_robot_demo" type="self_test_node" name="humanoid_robot_self_test" output="screen">
+    <param name="grass_demo" type="bool" value="False" />
+    <param name="p_gain" value="0.45" />
+    <param name="d_gain" value="0.045" />
+  </node>
+</launch>

humanoid_robot_demo/list/action_script.yaml

@@ -0,0 +1,23 @@
+# combination action page number and mp3 file path
+action_and_sound: 
+  4 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Thank you.mp3"
+  41: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Introduction.mp3"
+  24: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Wow.mp3"
+  23: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Yes go.mp3"
+  15: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Sit down.mp3"
+  1: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Stand up.mp3"
+  54: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Clap please.mp3"
+  27: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Oops.mp3"
+  38: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Bye bye.mp3"
+#  101 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Oops.mp3"
+  110 : ""
+  111 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Intro01.mp3"
+  115 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Intro02.mp3"
+  118 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Intro03.mp3"
+
+# play list
+prev_default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
+default: [4, 110, 111, 115, 118, 24, 54, 27, 38]
+
+# example of play list
+#certification: [101]

humanoid_robot_demo/list/action_script_bk.yaml

@@ -0,0 +1,18 @@
+# combination action page number and mp3 file path
+action_and_sound: 
+  4 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Thank you.mp3"
+  41: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Introduction.mp3"
+  24: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Wow.mp3"
+  23: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Yes go.mp3"
+  15: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Sit down.mp3"
+  1: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Stand up.mp3"
+  54: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Clap please.mp3"
+  27: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Oops.mp3"
+  38: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Bye bye.mp3"
+  101 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Oops.mp3"
+
+# play list
+default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
+
+# example of play list
+certificatino: [101]

humanoid_robot_demo/package.xml

@@ -1,20 +1,14 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>op3_demo</name>
+  <name>humanoid_robot_demo</name>
   <version>0.3.0</version>
   <description>
-    OP3 default demo
+    HUMANOID_ROBOT default demo
     It includes three demontrations(soccer demo, vision demo, action script demo)
   </description>
   <license>Apache 2.0</license>
-  <author email="kmjung@robotis.com">Kayman</author>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <url type="website">http://wiki.ros.org/op3_demo</url>
-  <url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
-  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
-  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
-
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roscpp</build_depend>
@@ -22,18 +16,18 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>robotis_controller_msgs</build_depend>
-  <build_depend>op3_walking_module_msgs</build_depend>
-  <build_depend>op3_action_module_msgs</build_depend>
+  <build_depend>humanoid_robot_controller_msgs</build_depend>
+  <build_depend>humanoid_robot_walking_module_msgs</build_depend>
+  <build_depend>humanoid_robot_action_module_msgs</build_depend>
   <build_depend>cmake_modules</build_depend>
-  <build_depend>robotis_math</build_depend>
-  <build_depend>op3_ball_detector</build_depend>
+  <build_depend>humanoid_robot_math</build_depend>
+  <build_depend>humanoid_robot_ball_detector</build_depend>
   <build_depend>boost</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>yaml-cpp</build_depend>
-  <build_depend>op3_manager</build_depend>
-  <build_depend>op3_camera_setting_tool</build_depend>
-  <build_depend>op3_web_setting_tool</build_depend>
+  <build_depend>humanoid_robot_manager</build_depend>
+  <build_depend>humanoid_robot_camera_setting_tool</build_depend>
+  <build_depend>humanoid_robot_web_setting_tool</build_depend>
   <build_depend>ros_madplay_player</build_depend>
   <build_depend>face_detection</build_depend>
 
@@ -42,18 +36,18 @@
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>robotis_controller_msgs</build_export_depend>
-  <build_export_depend>op3_walking_module_msgs</build_export_depend>
-  <build_export_depend>op3_action_module_msgs</build_export_depend>
+  <build_export_depend>humanoid_robot_controller_msgs</build_export_depend>
+  <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
+  <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
   <build_export_depend>cmake_modules</build_export_depend>
-  <build_export_depend>robotis_math</build_export_depend>
-  <build_export_depend>op3_ball_detector</build_export_depend>
+  <build_export_depend>humanoid_robot_math</build_export_depend>
+  <build_export_depend>humanoid_robot_ball_detector</build_export_depend>
   <build_export_depend>boost</build_export_depend>
   <build_export_depend>eigen</build_export_depend>
   <build_export_depend>yaml-cpp</build_export_depend>
-  <build_export_depend>op3_manager</build_export_depend>
-  <build_export_depend>op3_camera_setting_tool</build_export_depend>
-  <build_export_depend>op3_web_setting_tool</build_export_depend>
+  <build_export_depend>humanoid_robot_manager</build_export_depend>
+  <build_export_depend>humanoid_robot_camera_setting_tool</build_export_depend>
+  <build_export_depend>humanoid_robot_web_setting_tool</build_export_depend>
   <build_export_depend>ros_madplay_player</build_export_depend>
   <build_export_depend>face_detection</build_export_depend>
 
@@ -62,18 +56,18 @@
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>robotis_controller_msgs</exec_depend>
-  <exec_depend>op3_walking_module_msgs</exec_depend>
-  <exec_depend>op3_action_module_msgs</exec_depend>
+  <exec_depend>humanoid_robot_controller_msgs</exec_depend>
+  <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>
+  <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
   <exec_depend>cmake_modules</exec_depend>
-  <exec_depend>robotis_math</exec_depend>
-  <exec_depend>op3_ball_detector</exec_depend>
+  <exec_depend>humanoid_robot_math</exec_depend>
+  <exec_depend>humanoid_robot_ball_detector</exec_depend>
   <exec_depend>boost</exec_depend>
   <exec_depend>eigen</exec_depend>
   <exec_depend>yaml-cpp</exec_depend>
-  <exec_depend>op3_manager</exec_depend>
-  <exec_depend>op3_camera_setting_tool</exec_depend>
-  <exec_depend>op3_web_setting_tool</exec_depend>
+  <exec_depend>humanoid_robot_manager</exec_depend>
+  <exec_depend>humanoid_robot_camera_setting_tool</exec_depend>
+  <exec_depend>humanoid_robot_web_setting_tool</exec_depend>
   <exec_depend>ros_madplay_player</exec_depend>
   <exec_depend>face_detection</exec_depend>
 

humanoid_robot_demo/src/action/action_demo.cpp

@@ -16,9 +16,9 @@
 
 /* Author: Kayman Jung */
 
-#include "op3_demo/action_demo.h"
+#include "humanoid_robot_demo/action_demo.h"
 
-namespace robotis_op {
+namespace humanoid_robot_op {
 
 ActionDemo::ActionDemo()
     : SPIN_RATE(30), DEBUG_PRINT(false), play_index_(0),
@@ -28,14 +28,14 @@ ActionDemo::ActionDemo()
   ros::NodeHandle nh(ros::this_node::getName());
 
   std::string default_path =
-      ros::package::getPath("op3_demo") + "/list/action_script.yaml";
+      ros::package::getPath("humanoid_robot_demo") + "/list/action_script.yaml";
   script_path_ = nh.param<std::string>("action_script", default_path);
 
   std::string default_play_list = "default";
   play_list_name_ =
       nh.param<std::string>("action_script_play_list", default_play_list);
 
-  demo_command_sub_ = nh.subscribe("/robotis/demo_command", 1,
+  demo_command_sub_ = nh.subscribe("/humanoid_robot/demo_command", 1,
                                    &ActionDemo::demoCommandCallback, this);
 
   parseActionScript(script_path_);
@@ -150,19 +150,19 @@ void ActionDemo::callbackThread() {
 
   // subscriber & publisher
   module_control_pub_ =
-      nh.advertise<std_msgs::String>("/robotis/enable_ctrl_module", 0);
+      nh.advertise<std_msgs::String>("/humanoid_robot/enable_ctrl_module", 0);
   motion_index_pub_ =
-      nh.advertise<std_msgs::Int32>("/robotis/action/page_num", 0);
+      nh.advertise<std_msgs::Int32>("/humanoid_robot/action/page_num", 0);
   play_sound_pub_ = nh.advertise<std_msgs::String>("/play_sound_file", 0);
 
-  buttuon_sub_ = nh.subscribe("/robotis/open_cr/button", 1,
+  buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1,
                               &ActionDemo::buttonHandlerCallback, this);
 
-  is_running_client_ = nh.serviceClient<op3_action_module_msgs::IsRunning>(
-      "/robotis/action/is_running");
+  is_running_client_ = nh.serviceClient<humanoid_robot_action_module_msgs::IsRunning>(
+      "/humanoid_robot/action/is_running");
   set_joint_module_client_ =
-      nh.serviceClient<robotis_controller_msgs::SetModule>(
-          "/robotis/set_present_ctrl_modules");
+      nh.serviceClient<humanoid_robot_controller_msgs::SetModule>(
+          "/humanoid_robot/set_present_ctrl_modules");
 
   while (nh.ok()) {
     ros::spinOnce();
@@ -272,7 +272,7 @@ void ActionDemo::brakeAction() {
 
 // check running of action
 bool ActionDemo::isActionRunning() {
-  op3_action_module_msgs::IsRunning is_running_srv;
+  humanoid_robot_action_module_msgs::IsRunning is_running_srv;
 
   if (is_running_client_.call(is_running_srv) == false) {
     ROS_ERROR("Failed to get action status");
@@ -320,7 +320,7 @@ void ActionDemo::setModuleToDemo(const std::string &module_name) {
 }
 
 void ActionDemo::callServiceSettingModule(const std::string &module_name) {
-  robotis_controller_msgs::SetModule set_module_srv;
+  humanoid_robot_controller_msgs::SetModule set_module_srv;
   set_module_srv.request.module_name = module_name;
 
   if (set_joint_module_client_.call(set_module_srv) == false) {
@@ -342,4 +342,4 @@ void ActionDemo::demoCommandCallback(const std_msgs::String::ConstPtr &msg) {
   }
 }
 
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */

humanoid_robot_demo/src/demo_node.cpp

@@ -19,11 +19,11 @@
 #include <ros/ros.h>
 #include <std_msgs/String.h>
 
-#include "op3_demo/action_demo.h"
-#include "op3_demo/soccer_demo.h"
-#include "op3_demo/vision_demo.h"
-#include "robotis_controller_msgs/SyncWriteItem.h"
-#include "robotis_math/robotis_linear_algebra.h"
+#include "humanoid_robot_demo/action_demo.h"
+#include "humanoid_robot_demo/soccer_demo.h"
+#include "humanoid_robot_demo/vision_demo.h"
+#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
+#include "humanoid_robot_math/humanoid_robot_linear_algebra.h"
 
 enum Demo_Status {
   Ready = 0,
@@ -61,24 +61,24 @@ int main(int argc, char **argv) {
   ros::init(argc, argv, "demo_node");
 
   // create ros wrapper object
-  robotis_op::OPDemo *current_demo = NULL;
-  robotis_op::SoccerDemo *soccer_demo = new robotis_op::SoccerDemo();
-  robotis_op::ActionDemo *action_demo = new robotis_op::ActionDemo();
-  robotis_op::VisionDemo *vision_demo = new robotis_op::VisionDemo();
+  humanoid_robot_op::OPDemo *current_demo = NULL;
+  humanoid_robot_op::SoccerDemo *soccer_demo = new humanoid_robot_op::SoccerDemo();
+  humanoid_robot_op::ActionDemo *action_demo = new humanoid_robot_op::ActionDemo();
+  humanoid_robot_op::VisionDemo *vision_demo = new humanoid_robot_op::VisionDemo();
 
   ros::NodeHandle nh(ros::this_node::getName());
 
-  init_pose_pub = nh.advertise<std_msgs::String>("/robotis/base/ini_pose", 0);
+  init_pose_pub = nh.advertise<std_msgs::String>("/humanoid_robot/base/ini_pose", 0);
   play_sound_pub = nh.advertise<std_msgs::String>("/play_sound_file", 0);
-  led_pub = nh.advertise<robotis_controller_msgs::SyncWriteItem>(
-      "/robotis/sync_write_item", 0);
-  dxl_torque_pub = nh.advertise<std_msgs::String>("/robotis/dxl_torque", 0);
+  led_pub = nh.advertise<humanoid_robot_controller_msgs::SyncWriteItem>(
+      "/humanoid_robot/sync_write_item", 0);
+  dxl_torque_pub = nh.advertise<std_msgs::String>("/humanoid_robot/dxl_torque", 0);
   ros::Subscriber buttuon_sub =
-      nh.subscribe("/robotis/open_cr/button", 1, buttonHandlerCallback);
+      nh.subscribe("/humanoid_robot/open_cr/button", 1, buttonHandlerCallback);
   ros::Subscriber mode_command_sub =
-      nh.subscribe("/robotis/mode_command", 1, demoModeCommandCallback);
+      nh.subscribe("/humanoid_robot/mode_command", 1, demoModeCommandCallback);
 
-  default_mp3_path = ros::package::getPath("op3_demo") + "/data/mp3/";
+  default_mp3_path = ros::package::getPath("humanoid_robot_demo") + "/data/mp3/";
 
   ros::start();
 
@@ -86,7 +86,7 @@ int main(int argc, char **argv) {
   ros::Rate loop_rate(SPIN_RATE);
 
   // wait for starting of manager
-  std::string manager_name = "/op3_manager";
+  std::string manager_name = "/humanoid_robot_manager";
   while (ros::ok()) {
     ros::Duration(1.0).sleep();
 
@@ -94,7 +94,7 @@ int main(int argc, char **argv) {
       break;
       ROS_INFO_COND(DEBUG_PRINT, "Succeed to connect");
     }
-    ROS_WARN("Waiting for op3 manager");
+    ROS_WARN("Waiting for humanoid_robot manager");
   }
 
   // init procedure
@@ -184,7 +184,7 @@ void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg) {
       playSound(default_mp3_path + "Demonstration ready mode.mp3");
       setLED(0x01 | 0x02 | 0x04);
     } else if (msg->data == "user_long") {
-      // it's using in op3_manager
+      // it's using in humanoid_robot_manager
       // torque on and going to init pose
     }
   }
@@ -266,7 +266,7 @@ void playSound(const std::string &path) {
 }
 
 void setLED(int led) {
-  robotis_controller_msgs::SyncWriteItem syncwrite_msg;
+  humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg;
   syncwrite_msg.item_name = "LED";
   syncwrite_msg.joint_name.push_back("open-cr");
   syncwrite_msg.value.push_back(led);
@@ -284,7 +284,7 @@ bool checkManagerRunning(std::string &manager_name) {
       return true;
   }
 
-  ROS_ERROR("Can't find op3_manager");
+  ROS_ERROR("Can't find humanoid_robot_manager");
   return false;
 }