diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
index 9bf6f0a..97f7fe7 100644
--- a/.github/workflows/cmake.yml
+++ b/.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
+# 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.
diff --git a/catkin_setup.sh b/catkin_setup.sh
deleted file mode 100644
index 6ec332f..0000000
--- a/catkin_setup.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-catkin build
-source "/opt/ros/noetic/setup.bash"
-source "$CATKIN_WS/devel/setup.bash"
diff --git a/Dockerfile b/docker/Dockerfile
similarity index 100%
rename from Dockerfile
rename to docker/Dockerfile
diff --git a/gpu.Dockerfile b/docker/gpu.Dockerfile
similarity index 100%
rename from gpu.Dockerfile
rename to docker/gpu.Dockerfile
diff --git a/humanoid_robot_ball_detector/CHANGELOG.rst b/humanoid_robot_ball_detector/CHANGELOG.rst
new file mode 100644
index 0000000..f713055
--- /dev/null
+++ b/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
diff --git a/op3_ball_detector/CMakeLists.txt b/humanoid_robot_ball_detector/CMakeLists.txt
similarity index 99%
rename from op3_ball_detector/CMakeLists.txt
rename to humanoid_robot_ball_detector/CMakeLists.txt
index 80e85e3..2f78705 100644
--- a/op3_ball_detector/CMakeLists.txt
+++ b/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
diff --git a/op3_ball_detector/cfg/DetectorParams.cfg b/humanoid_robot_ball_detector/cfg/DetectorParams.cfg
similarity index 98%
rename from op3_ball_detector/cfg/DetectorParams.cfg
rename to humanoid_robot_ball_detector/cfg/DetectorParams.cfg
index e627907..203fd0c 100755
--- a/op3_ball_detector/cfg/DetectorParams.cfg
+++ b/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 *
diff --git a/op3_ball_detector/cfg/DetectorParamsBlue.cfg b/humanoid_robot_ball_detector/cfg/DetectorParamsBlue.cfg
similarity index 98%
rename from op3_ball_detector/cfg/DetectorParamsBlue.cfg
rename to humanoid_robot_ball_detector/cfg/DetectorParamsBlue.cfg
index 391e99f..2884c7d 100755
--- a/op3_ball_detector/cfg/DetectorParamsBlue.cfg
+++ b/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 *
diff --git a/op3_ball_detector/cfg/DetectorParamsRed.cfg b/humanoid_robot_ball_detector/cfg/DetectorParamsRed.cfg
similarity index 98%
rename from op3_ball_detector/cfg/DetectorParamsRed.cfg
rename to humanoid_robot_ball_detector/cfg/DetectorParamsRed.cfg
index 6d8dbad..5e78e85 100755
--- a/op3_ball_detector/cfg/DetectorParamsRed.cfg
+++ b/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 *
diff --git a/op3_ball_detector/config/ball_detector_params.yaml b/humanoid_robot_ball_detector/config/ball_detector_params.yaml
similarity index 100%
rename from op3_ball_detector/config/ball_detector_params.yaml
rename to humanoid_robot_ball_detector/config/ball_detector_params.yaml
diff --git a/op3_ball_detector/config/ball_detector_params_default.yaml b/humanoid_robot_ball_detector/config/ball_detector_params_default.yaml
similarity index 100%
rename from op3_ball_detector/config/ball_detector_params_default.yaml
rename to humanoid_robot_ball_detector/config/ball_detector_params_default.yaml
diff --git a/op3_ball_detector/config/ball_detector_params_op.yaml b/humanoid_robot_ball_detector/config/ball_detector_params_op.yaml
similarity index 100%
rename from op3_ball_detector/config/ball_detector_params_op.yaml
rename to humanoid_robot_ball_detector/config/ball_detector_params_op.yaml
diff --git a/op3_ball_detector/include/op3_ball_detector/ball_detector.h b/humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h
similarity index 81%
rename from op3_ball_detector/include/op3_ball_detector/ball_detector.h
rename to humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h
index c6b4833..fd33a59 100644
--- a/op3_ball_detector/include/op3_ball_detector/ball_detector.h
+++ b/humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h
@@ -36,14 +36,14 @@
#include
#include
-#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
+ dynamic_reconfigure::Server
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_
diff --git a/op3_ball_detector/include/op3_ball_detector/ball_detector_config.h b/humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector_config.h
similarity index 98%
rename from op3_ball_detector/include/op3_ball_detector/ball_detector_config.h
rename to humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector_config.h
index a69be5d..9a80474 100644
--- a/op3_ball_detector/include/op3_ball_detector/ball_detector_config.h
+++ b/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_
diff --git a/op3_ball_detector/launch/ball_detector.launch b/humanoid_robot_ball_detector/launch/ball_detector.launch
similarity index 61%
rename from op3_ball_detector/launch/ball_detector.launch
rename to humanoid_robot_ball_detector/launch/ball_detector.launch
index 475eb62..a984f30 100644
--- a/op3_ball_detector/launch/ball_detector.launch
+++ b/humanoid_robot_ball_detector/launch/ball_detector.launch
@@ -1,9 +1,9 @@
-
+
-
+
diff --git a/op3_ball_detector/launch/ball_detector_from_usb_cam.launch b/humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch
similarity index 94%
rename from op3_ball_detector/launch/ball_detector_from_usb_cam.launch
rename to humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch
index 7f3ae14..3d3d285 100644
--- a/op3_ball_detector/launch/ball_detector_from_usb_cam.launch
+++ b/humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch
@@ -23,5 +23,5 @@
-
+
diff --git a/op3_ball_detector/launch/ball_detector_from_uvc.launch b/humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch
similarity index 91%
rename from op3_ball_detector/launch/ball_detector_from_uvc.launch
rename to humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch
index 4b5ed9a..87c5654 100644
--- a/op3_ball_detector/launch/ball_detector_from_uvc.launch
+++ b/humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch
@@ -28,5 +28,5 @@
-
+
diff --git a/op3_ball_detector/msg/BallDetectorParams.msg b/humanoid_robot_ball_detector/msg/BallDetectorParams.msg
similarity index 100%
rename from op3_ball_detector/msg/BallDetectorParams.msg
rename to humanoid_robot_ball_detector/msg/BallDetectorParams.msg
diff --git a/op3_ball_detector/msg/CircleSetStamped.msg b/humanoid_robot_ball_detector/msg/CircleSetStamped.msg
similarity index 100%
rename from op3_ball_detector/msg/CircleSetStamped.msg
rename to humanoid_robot_ball_detector/msg/CircleSetStamped.msg
diff --git a/op3_ball_detector/package.xml b/humanoid_robot_ball_detector/package.xml
similarity index 85%
rename from op3_ball_detector/package.xml
rename to humanoid_robot_ball_detector/package.xml
index 8713a7a..0f77593 100644
--- a/op3_ball_detector/package.xml
+++ b/humanoid_robot_ball_detector/package.xml
@@ -1,6 +1,6 @@
- op3_ball_detector
+ humanoid_robot_ball_detector
0.1.0
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.
Apache 2.0
- Kayman
- Zerom
Ronaldson Bellande
- http://wiki.ros.org/op3_ball_detector
- http://emanual.robotis.com/docs/en/platform/op3/introduction/
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues
-
catkin
roscpp
diff --git a/op3_ball_detector/rviz/ball_detector.rviz b/humanoid_robot_ball_detector/rviz/ball_detector.rviz
similarity index 100%
rename from op3_ball_detector/rviz/ball_detector.rviz
rename to humanoid_robot_ball_detector/rviz/ball_detector.rviz
diff --git a/op3_ball_detector/src/ball_detector.cpp b/humanoid_robot_ball_detector/src/ball_detector.cpp
similarity index 97%
rename from op3_ball_detector/src/ball_detector.cpp
rename to humanoid_robot_ball_detector/src/ball_detector.cpp
index 9659133..3c975cc 100644
--- a/op3_ball_detector/src/ball_detector.cpp
+++ b/humanoid_robot_ball_detector/src/ball_detector.cpp
@@ -18,9 +18,9 @@
#include
-#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("circle_set", 100);
+ nh_.advertise("circle_set", 100);
camera_info_pub_ = nh_.advertise("camera_info", 100);
// sets subscribers
@@ -106,7 +106,7 @@ BallDetector::BallDetector()
// web setting
param_pub_ =
- nh_.advertise("current_params", 1);
+ nh_.advertise("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
diff --git a/op3_ball_detector/src/ball_detector_node.cpp b/humanoid_robot_ball_detector/src/ball_detector_node.cpp
similarity index 92%
rename from op3_ball_detector/src/ball_detector_node.cpp
rename to humanoid_robot_ball_detector/src/ball_detector_node.cpp
index 421ff6a..a34960f 100644
--- a/op3_ball_detector/src/ball_detector_node.cpp
+++ b/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);
diff --git a/op3_ball_detector/srv/GetParameters.srv b/humanoid_robot_ball_detector/srv/GetParameters.srv
similarity index 100%
rename from op3_ball_detector/srv/GetParameters.srv
rename to humanoid_robot_ball_detector/srv/GetParameters.srv
diff --git a/op3_ball_detector/srv/SetParameters.srv b/humanoid_robot_ball_detector/srv/SetParameters.srv
similarity index 100%
rename from op3_ball_detector/srv/SetParameters.srv
rename to humanoid_robot_ball_detector/srv/SetParameters.srv
diff --git a/humanoid_robot_bringup/CHANGELOG.rst b/humanoid_robot_bringup/CHANGELOG.rst
new file mode 100644
index 0000000..83b5f30
--- /dev/null
+++ b/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
diff --git a/op3_bringup/CMakeLists.txt b/humanoid_robot_bringup/CMakeLists.txt
similarity index 98%
rename from op3_bringup/CMakeLists.txt
rename to humanoid_robot_bringup/CMakeLists.txt
index 629dcb4..631edc8 100644
--- a/op3_bringup/CMakeLists.txt
+++ b/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
diff --git a/op3_bringup/launch/op3_bringup.launch b/humanoid_robot_bringup/launch/humanoid_robot_bringup.launch
similarity index 80%
rename from op3_bringup/launch/op3_bringup.launch
rename to humanoid_robot_bringup/launch/humanoid_robot_bringup.launch
index 63aa7c8..6d01824 100644
--- a/op3_bringup/launch/op3_bringup.launch
+++ b/humanoid_robot_bringup/launch/humanoid_robot_bringup.launch
@@ -1,7 +1,7 @@
-
-
+
+
diff --git a/op3_bringup/launch/op3_bringup_visualization.launch b/humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch
similarity index 57%
rename from op3_bringup/launch/op3_bringup_visualization.launch
rename to humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch
index 0ce6a5f..16d122a 100644
--- a/op3_bringup/launch/op3_bringup_visualization.launch
+++ b/humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch
@@ -1,18 +1,18 @@
-
+
- [/robotis/present_joint_states]
+ [/humanoid_robot/present_joint_states]
-
+
-
+
diff --git a/op3_bringup/package.xml b/humanoid_robot_bringup/package.xml
similarity index 59%
rename from op3_bringup/package.xml
rename to humanoid_robot_bringup/package.xml
index 93ffc2f..87db202 100644
--- a/op3_bringup/package.xml
+++ b/humanoid_robot_bringup/package.xml
@@ -1,38 +1,32 @@
- op3_bringup
+ humanoid_robot_bringup
0.3.0
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
- Kayman
Ronaldson Bellande
- http://wiki.ros.org/op3_bringup
- http://emanual.robotis.com/docs/en/platform/op3/introduction/
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues
-
catkin
- op3_manager
- op3_description
+ humanoid_robot_manager
+ humanoid_robot_description
usb_cam
joint_state_publisher
robot_state_publisher
rviz
- op3_manager
- op3_description
+ humanoid_robot_manager
+ humanoid_robot_description
usb_cam
joint_state_publisher
robot_state_publisher
rviz
- op3_manager
- op3_description
+ humanoid_robot_manager
+ humanoid_robot_description
usb_cam
joint_state_publisher
robot_state_publisher
diff --git a/op3_bringup/rviz/op3_bringup.rviz b/humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz
similarity index 99%
rename from op3_bringup/rviz/op3_bringup.rviz
rename to humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz
index cffe130..ef223c3 100644
--- a/op3_bringup/rviz/op3_bringup.rviz
+++ b/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
diff --git a/humanoid_robot_demo/CHANGELOG.rst b/humanoid_robot_demo/CHANGELOG.rst
new file mode 100644
index 0000000..094695e
--- /dev/null
+++ b/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
diff --git a/op3_demo/CMakeLists.txt b/humanoid_robot_demo/CMakeLists.txt
similarity index 92%
rename from op3_demo/CMakeLists.txt
rename to humanoid_robot_demo/CMakeLists.txt
index c9baf11..7316eb6 100644
--- a/op3_demo/CMakeLists.txt
+++ b/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
)
diff --git a/op3_demo/data/mp3/Autonomous soccer mode.mp3 b/humanoid_robot_demo/data/mp3/Autonomous soccer mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/Autonomous soccer mode.mp3
rename to humanoid_robot_demo/data/mp3/Autonomous soccer mode.mp3
diff --git a/op3_demo/data/mp3/Bye bye.mp3 b/humanoid_robot_demo/data/mp3/Bye bye.mp3
similarity index 100%
rename from op3_demo/data/mp3/Bye bye.mp3
rename to humanoid_robot_demo/data/mp3/Bye bye.mp3
diff --git a/op3_demo/data/mp3/Clap please.mp3 b/humanoid_robot_demo/data/mp3/Clap please.mp3
similarity index 100%
rename from op3_demo/data/mp3/Clap please.mp3
rename to humanoid_robot_demo/data/mp3/Clap please.mp3
diff --git a/op3_demo/data/mp3/Demonstration ready mode.mp3 b/humanoid_robot_demo/data/mp3/Demonstration ready mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/Demonstration ready mode.mp3
rename to humanoid_robot_demo/data/mp3/Demonstration ready mode.mp3
diff --git a/op3_demo/data/mp3/Headstand.mp3 b/humanoid_robot_demo/data/mp3/Headstand.mp3
similarity index 100%
rename from op3_demo/data/mp3/Headstand.mp3
rename to humanoid_robot_demo/data/mp3/Headstand.mp3
diff --git a/op3_demo/data/mp3/Interactive motion mode.mp3 b/humanoid_robot_demo/data/mp3/Interactive motion mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/Interactive motion mode.mp3
rename to humanoid_robot_demo/data/mp3/Interactive motion mode.mp3
diff --git a/op3_demo/data/mp3/Intro01.mp3 b/humanoid_robot_demo/data/mp3/Intro01.mp3
similarity index 100%
rename from op3_demo/data/mp3/Intro01.mp3
rename to humanoid_robot_demo/data/mp3/Intro01.mp3
diff --git a/op3_demo/data/mp3/Intro02.mp3 b/humanoid_robot_demo/data/mp3/Intro02.mp3
similarity index 100%
rename from op3_demo/data/mp3/Intro02.mp3
rename to humanoid_robot_demo/data/mp3/Intro02.mp3
diff --git a/op3_demo/data/mp3/Intro03.mp3 b/humanoid_robot_demo/data/mp3/Intro03.mp3
similarity index 100%
rename from op3_demo/data/mp3/Intro03.mp3
rename to humanoid_robot_demo/data/mp3/Intro03.mp3
diff --git a/op3_demo/data/mp3/Introduction.mp3 b/humanoid_robot_demo/data/mp3/Introduction.mp3
similarity index 100%
rename from op3_demo/data/mp3/Introduction.mp3
rename to humanoid_robot_demo/data/mp3/Introduction.mp3
diff --git a/op3_demo/data/mp3/Left kick.mp3 b/humanoid_robot_demo/data/mp3/Left kick.mp3
similarity index 100%
rename from op3_demo/data/mp3/Left kick.mp3
rename to humanoid_robot_demo/data/mp3/Left kick.mp3
diff --git a/op3_demo/data/mp3/No.mp3 b/humanoid_robot_demo/data/mp3/No.mp3
similarity index 100%
rename from op3_demo/data/mp3/No.mp3
rename to humanoid_robot_demo/data/mp3/No.mp3
diff --git a/op3_demo/data/mp3/Oops.mp3 b/humanoid_robot_demo/data/mp3/Oops.mp3
similarity index 100%
rename from op3_demo/data/mp3/Oops.mp3
rename to humanoid_robot_demo/data/mp3/Oops.mp3
diff --git a/op3_demo/data/mp3/Right kick.mp3 b/humanoid_robot_demo/data/mp3/Right kick.mp3
similarity index 100%
rename from op3_demo/data/mp3/Right kick.mp3
rename to humanoid_robot_demo/data/mp3/Right kick.mp3
diff --git a/op3_demo/data/mp3/Sensor calibration complete.mp3 b/humanoid_robot_demo/data/mp3/Sensor calibration complete.mp3
similarity index 100%
rename from op3_demo/data/mp3/Sensor calibration complete.mp3
rename to humanoid_robot_demo/data/mp3/Sensor calibration complete.mp3
diff --git a/op3_demo/data/mp3/Sensor calibration fail.mp3 b/humanoid_robot_demo/data/mp3/Sensor calibration fail.mp3
similarity index 100%
rename from op3_demo/data/mp3/Sensor calibration fail.mp3
rename to humanoid_robot_demo/data/mp3/Sensor calibration fail.mp3
diff --git a/op3_demo/data/mp3/Shoot.mp3 b/humanoid_robot_demo/data/mp3/Shoot.mp3
similarity index 100%
rename from op3_demo/data/mp3/Shoot.mp3
rename to humanoid_robot_demo/data/mp3/Shoot.mp3
diff --git a/op3_demo/data/mp3/Sit down.mp3 b/humanoid_robot_demo/data/mp3/Sit down.mp3
similarity index 100%
rename from op3_demo/data/mp3/Sit down.mp3
rename to humanoid_robot_demo/data/mp3/Sit down.mp3
diff --git a/op3_demo/data/mp3/Stand up.mp3 b/humanoid_robot_demo/data/mp3/Stand up.mp3
similarity index 100%
rename from op3_demo/data/mp3/Stand up.mp3
rename to humanoid_robot_demo/data/mp3/Stand up.mp3
diff --git a/op3_demo/data/mp3/Start motion demonstration.mp3 b/humanoid_robot_demo/data/mp3/Start motion demonstration.mp3
similarity index 100%
rename from op3_demo/data/mp3/Start motion demonstration.mp3
rename to humanoid_robot_demo/data/mp3/Start motion demonstration.mp3
diff --git a/op3_demo/data/mp3/Start soccer demonstration.mp3 b/humanoid_robot_demo/data/mp3/Start soccer demonstration.mp3
similarity index 100%
rename from op3_demo/data/mp3/Start soccer demonstration.mp3
rename to humanoid_robot_demo/data/mp3/Start soccer demonstration.mp3
diff --git a/op3_demo/data/mp3/Start vision processing demonstration.mp3 b/humanoid_robot_demo/data/mp3/Start vision processing demonstration.mp3
similarity index 100%
rename from op3_demo/data/mp3/Start vision processing demonstration.mp3
rename to humanoid_robot_demo/data/mp3/Start vision processing demonstration.mp3
diff --git a/op3_demo/data/mp3/System shutdown.mp3 b/humanoid_robot_demo/data/mp3/System shutdown.mp3
similarity index 100%
rename from op3_demo/data/mp3/System shutdown.mp3
rename to humanoid_robot_demo/data/mp3/System shutdown.mp3
diff --git a/op3_demo/data/mp3/Thank you.mp3 b/humanoid_robot_demo/data/mp3/Thank you.mp3
similarity index 100%
rename from op3_demo/data/mp3/Thank you.mp3
rename to humanoid_robot_demo/data/mp3/Thank you.mp3
diff --git a/op3_demo/data/mp3/Vision processing mode.mp3 b/humanoid_robot_demo/data/mp3/Vision processing mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/Vision processing mode.mp3
rename to humanoid_robot_demo/data/mp3/Vision processing mode.mp3
diff --git a/op3_demo/data/mp3/Wow.mp3 b/humanoid_robot_demo/data/mp3/Wow.mp3
similarity index 100%
rename from op3_demo/data/mp3/Wow.mp3
rename to humanoid_robot_demo/data/mp3/Wow.mp3
diff --git a/op3_demo/data/mp3/Yes go.mp3 b/humanoid_robot_demo/data/mp3/Yes go.mp3
similarity index 100%
rename from op3_demo/data/mp3/Yes go.mp3
rename to humanoid_robot_demo/data/mp3/Yes go.mp3
diff --git a/op3_demo/data/mp3/Yes.mp3 b/humanoid_robot_demo/data/mp3/Yes.mp3
similarity index 100%
rename from op3_demo/data/mp3/Yes.mp3
rename to humanoid_robot_demo/data/mp3/Yes.mp3
diff --git a/op3_demo/data/mp3/intro_test.mp3 b/humanoid_robot_demo/data/mp3/intro_test.mp3
similarity index 100%
rename from op3_demo/data/mp3/intro_test.mp3
rename to humanoid_robot_demo/data/mp3/intro_test.mp3
diff --git a/op3_demo/data/mp3/test/Announce mic test.mp3 b/humanoid_robot_demo/data/mp3/test/Announce mic test.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Announce mic test.mp3
rename to humanoid_robot_demo/data/mp3/test/Announce mic test.mp3
diff --git a/op3_demo/data/mp3/test/Button test mode.mp3 b/humanoid_robot_demo/data/mp3/test/Button test mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Button test mode.mp3
rename to humanoid_robot_demo/data/mp3/test/Button test mode.mp3
diff --git a/op3_demo/data/mp3/test/Mic test mode.mp3 b/humanoid_robot_demo/data/mp3/test/Mic test mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Mic test mode.mp3
rename to humanoid_robot_demo/data/mp3/test/Mic test mode.mp3
diff --git a/op3_demo/data/mp3/test/Mode button long pressed.mp3 b/humanoid_robot_demo/data/mp3/test/Mode button long pressed.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Mode button long pressed.mp3
rename to humanoid_robot_demo/data/mp3/test/Mode button long pressed.mp3
diff --git a/op3_demo/data/mp3/test/Mode button pressed.mp3 b/humanoid_robot_demo/data/mp3/test/Mode button pressed.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Mode button pressed.mp3
rename to humanoid_robot_demo/data/mp3/test/Mode button pressed.mp3
diff --git a/op3_demo/data/mp3/test/Self test ready mode.mp3 b/humanoid_robot_demo/data/mp3/test/Self test ready mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Self test ready mode.mp3
rename to humanoid_robot_demo/data/mp3/test/Self test ready mode.mp3
diff --git a/op3_demo/data/mp3/test/Start button long pressed.mp3 b/humanoid_robot_demo/data/mp3/test/Start button long pressed.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Start button long pressed.mp3
rename to humanoid_robot_demo/data/mp3/test/Start button long pressed.mp3
diff --git a/op3_demo/data/mp3/test/Start button pressed.mp3 b/humanoid_robot_demo/data/mp3/test/Start button pressed.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Start button pressed.mp3
rename to humanoid_robot_demo/data/mp3/test/Start button pressed.mp3
diff --git a/op3_demo/data/mp3/test/Start button test mode.mp3 b/humanoid_robot_demo/data/mp3/test/Start button test mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Start button test mode.mp3
rename to humanoid_robot_demo/data/mp3/test/Start button test mode.mp3
diff --git a/op3_demo/data/mp3/test/Start mic test mode.mp3 b/humanoid_robot_demo/data/mp3/test/Start mic test mode.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Start mic test mode.mp3
rename to humanoid_robot_demo/data/mp3/test/Start mic test mode.mp3
diff --git a/op3_demo/data/mp3/test/Start playing.mp3 b/humanoid_robot_demo/data/mp3/test/Start playing.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Start playing.mp3
rename to humanoid_robot_demo/data/mp3/test/Start playing.mp3
diff --git a/op3_demo/data/mp3/test/Start recording.mp3 b/humanoid_robot_demo/data/mp3/test/Start recording.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/Start recording.mp3
rename to humanoid_robot_demo/data/mp3/test/Start recording.mp3
diff --git a/op3_demo/data/mp3/test/User button long pressed.mp3 b/humanoid_robot_demo/data/mp3/test/User button long pressed.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/User button long pressed.mp3
rename to humanoid_robot_demo/data/mp3/test/User button long pressed.mp3
diff --git a/op3_demo/data/mp3/test/User button pressed.mp3 b/humanoid_robot_demo/data/mp3/test/User button pressed.mp3
similarity index 100%
rename from op3_demo/data/mp3/test/User button pressed.mp3
rename to humanoid_robot_demo/data/mp3/test/User button pressed.mp3
diff --git a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst b/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst
new file mode 100644
index 0000000..eacc32d
--- /dev/null
+++ b/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
diff --git a/robotis_op3_demo/CMakeLists.txt b/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt
similarity index 75%
rename from robotis_op3_demo/CMakeLists.txt
rename to humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt
index aa20e05..b5a0767 100644
--- a/robotis_op3_demo/CMakeLists.txt
+++ b/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()
diff --git a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml b/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml
new file mode 100644
index 0000000..9738368
--- /dev/null
+++ b/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml
@@ -0,0 +1,28 @@
+
+
+ humanoid_robot_demo
+ 0.3.0
+
+ ROS packages for the humanoid_robot_demo (meta package)
+
+ Apache 2.0
+ Ronaldson Bellande
+
+ catkin
+
+ humanoid_robot_ball_detector
+ humanoid_robot_bringup
+ humanoid_robot_demo
+
+ humanoid_robot_ball_detector
+ humanoid_robot_bringup
+ humanoid_robot_demo
+
+ humanoid_robot_ball_detector
+ humanoid_robot_bringup
+ humanoid_robot_demo
+
+
+
+
+
diff --git a/op3_demo/include/op3_demo/action_demo.h b/humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h
similarity index 90%
rename from op3_demo/include/op3_demo/action_demo.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h
index b3ff459..1b1b951 100644
--- a/op3_demo/include/op3_demo/action_demo.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h
@@ -27,12 +27,12 @@
#include
#include
-#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_ */
diff --git a/op3_demo/include/op3_demo/ball_follower.h b/humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h
similarity index 90%
rename from op3_demo/include/op3_demo/ball_follower.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h
index 06984e7..7b6dc45 100644
--- a/op3_demo/include/op3_demo/ball_follower.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h
@@ -29,12 +29,12 @@
#include
#include
-#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_ */
diff --git a/op3_demo/include/op3_demo/ball_tracker.h b/humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h
similarity index 87%
rename from op3_demo/include/op3_demo/ball_tracker.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h
index f6d996e..55b8447 100644
--- a/op3_demo/include/op3_demo/ball_tracker.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h
@@ -28,12 +28,12 @@
#include
#include
-#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_ */
diff --git a/op3_demo/include/op3_demo/button_test.h b/humanoid_robot_demo/include/humanoid_robot_demo/button_test.h
similarity index 90%
rename from op3_demo/include/op3_demo/button_test.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/button_test.h
index 0090702..24d6d72 100644
--- a/op3_demo/include/op3_demo/button_test.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/button_test.h
@@ -24,10 +24,10 @@
#include
#include
-#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_ */
diff --git a/op3_demo/include/op3_demo/face_tracker.h b/humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h
similarity index 97%
rename from op3_demo/include/op3_demo/face_tracker.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h
index a1b7abc..10acdbd 100644
--- a/op3_demo/include/op3_demo/face_tracker.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h
@@ -29,7 +29,7 @@
#include
#include
-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_ */
diff --git a/op3_demo/include/op3_demo/mic_test.h b/humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h
similarity index 92%
rename from op3_demo/include/op3_demo/mic_test.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h
index ceb2f17..fa921ef 100644
--- a/op3_demo/include/op3_demo/mic_test.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h
@@ -25,10 +25,10 @@
#include
#include
-#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_ */
diff --git a/op3_demo/include/op3_demo/op_demo.h b/humanoid_robot_demo/include/humanoid_robot_demo/op_demo.h
similarity index 94%
rename from op3_demo/include/op3_demo/op_demo.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/op_demo.h
index 54cb72b..420304b 100644
--- a/op3_demo/include/op3_demo/op_demo.h
+++ b/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_ */
diff --git a/op3_demo/include/op3_demo/soccer_demo.h b/humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h
similarity index 85%
rename from op3_demo/include/op3_demo/soccer_demo.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h
index ae7b553..042517c 100644
--- a/op3_demo/include/op3_demo/soccer_demo.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h
@@ -26,17 +26,17 @@
#include
#include
-#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
diff --git a/op3_demo/include/op3_demo/vision_demo.h b/humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h
similarity index 88%
rename from op3_demo/include/op3_demo/vision_demo.h
rename to humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h
index 523bcc8..d304920 100644
--- a/op3_demo/include/op3_demo/vision_demo.h
+++ b/humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h
@@ -25,13 +25,13 @@
#include
#include
-#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_ */
diff --git a/humanoid_robot_demo/launch/demo.launch b/humanoid_robot_demo/launch/demo.launch
new file mode 100644
index 0000000..c4cb90a
--- /dev/null
+++ b/humanoid_robot_demo/launch/demo.launch
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/op3_demo/launch/face_detection_op3.launch b/humanoid_robot_demo/launch/face_detection_humanoid_robot.launch
similarity index 100%
rename from op3_demo/launch/face_detection_op3.launch
rename to humanoid_robot_demo/launch/face_detection_humanoid_robot.launch
diff --git a/humanoid_robot_demo/launch/self_test.launch b/humanoid_robot_demo/launch/self_test.launch
new file mode 100644
index 0000000..b160e4a
--- /dev/null
+++ b/humanoid_robot_demo/launch/self_test.launch
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/humanoid_robot_demo/list/action_script.yaml b/humanoid_robot_demo/list/action_script.yaml
new file mode 100644
index 0000000..ab277f2
--- /dev/null
+++ b/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]
diff --git a/humanoid_robot_demo/list/action_script_bk.yaml b/humanoid_robot_demo/list/action_script_bk.yaml
new file mode 100644
index 0000000..c381065
--- /dev/null
+++ b/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]
diff --git a/op3_demo/package.xml b/humanoid_robot_demo/package.xml
similarity index 52%
rename from op3_demo/package.xml
rename to humanoid_robot_demo/package.xml
index 9604a04..3af2f55 100644
--- a/op3_demo/package.xml
+++ b/humanoid_robot_demo/package.xml
@@ -1,20 +1,14 @@
- op3_demo
+ humanoid_robot_demo
0.3.0
- OP3 default demo
+ HUMANOID_ROBOT default demo
It includes three demontrations(soccer demo, vision demo, action script demo)
Apache 2.0
- Kayman
Ronaldson Bellande
- http://wiki.ros.org/op3_demo
- http://emanual.robotis.com/docs/en/platform/op3/introduction/
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues
-
catkin
roscpp
@@ -22,18 +16,18 @@
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
boost
eigen
yaml-cpp
- op3_manager
- op3_camera_setting_tool
- op3_web_setting_tool
+ humanoid_robot_manager
+ humanoid_robot_camera_setting_tool
+ humanoid_robot_web_setting_tool
ros_madplay_player
face_detection
@@ -42,18 +36,18 @@
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
boost
eigen
yaml-cpp
- op3_manager
- op3_camera_setting_tool
- op3_web_setting_tool
+ humanoid_robot_manager
+ humanoid_robot_camera_setting_tool
+ humanoid_robot_web_setting_tool
ros_madplay_player
face_detection
@@ -62,18 +56,18 @@
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
boost
eigen
yaml-cpp
- op3_manager
- op3_camera_setting_tool
- op3_web_setting_tool
+ humanoid_robot_manager
+ humanoid_robot_camera_setting_tool
+ humanoid_robot_web_setting_tool
ros_madplay_player
face_detection
diff --git a/op3_demo/src/action/action_demo.cpp b/humanoid_robot_demo/src/action/action_demo.cpp
similarity index 89%
rename from op3_demo/src/action/action_demo.cpp
rename to humanoid_robot_demo/src/action/action_demo.cpp
index 30fbdda..c2bea79 100644
--- a/op3_demo/src/action/action_demo.cpp
+++ b/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("action_script", default_path);
std::string default_play_list = "default";
play_list_name_ =
nh.param("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("/robotis/enable_ctrl_module", 0);
+ nh.advertise("/humanoid_robot/enable_ctrl_module", 0);
motion_index_pub_ =
- nh.advertise("/robotis/action/page_num", 0);
+ nh.advertise("/humanoid_robot/action/page_num", 0);
play_sound_pub_ = nh.advertise("/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(
- "/robotis/action/is_running");
+ is_running_client_ = nh.serviceClient(
+ "/humanoid_robot/action/is_running");
set_joint_module_client_ =
- nh.serviceClient(
- "/robotis/set_present_ctrl_modules");
+ nh.serviceClient(
+ "/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 */
diff --git a/op3_demo/src/demo_node.cpp b/humanoid_robot_demo/src/demo_node.cpp
similarity index 85%
rename from op3_demo/src/demo_node.cpp
rename to humanoid_robot_demo/src/demo_node.cpp
index 90fb0a8..67ff235 100644
--- a/op3_demo/src/demo_node.cpp
+++ b/humanoid_robot_demo/src/demo_node.cpp
@@ -19,11 +19,11 @@
#include
#include
-#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("/robotis/base/ini_pose", 0);
+ init_pose_pub = nh.advertise("/humanoid_robot/base/ini_pose", 0);
play_sound_pub = nh.advertise("/play_sound_file", 0);
- led_pub = nh.advertise(
- "/robotis/sync_write_item", 0);
- dxl_torque_pub = nh.advertise("/robotis/dxl_torque", 0);
+ led_pub = nh.advertise(
+ "/humanoid_robot/sync_write_item", 0);
+ dxl_torque_pub = nh.advertise("/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;
}
diff --git a/op3_demo/src/soccer/ball_follower.cpp b/humanoid_robot_demo/src/soccer/ball_follower.cpp
similarity index 94%
rename from op3_demo/src/soccer/ball_follower.cpp
rename to humanoid_robot_demo/src/soccer/ball_follower.cpp
index f4ef1e0..c0d8b79 100644
--- a/op3_demo/src/soccer/ball_follower.cpp
+++ b/humanoid_robot_demo/src/soccer/ball_follower.cpp
@@ -16,9 +16,9 @@
/* Author: Kayman Jung */
-#include "op3_demo/ball_follower.h"
+#include "humanoid_robot_demo/ball_follower.h"
-namespace robotis_op {
+namespace humanoid_robot_op {
BallFollower::BallFollower()
: nh_(ros::this_node::getName()), FOV_WIDTH(35.2 * M_PI / 180),
@@ -34,16 +34,16 @@ BallFollower::BallFollower()
current_x_move_(0.005), current_r_angle_(0), curr_period_time_(0.6),
accum_period_time_(0.0), DEBUG_PRINT(false) {
current_joint_states_sub_ =
- nh_.subscribe("/robotis/goal_joint_states", 10,
+ nh_.subscribe("/humanoid_robot/goal_joint_states", 10,
&BallFollower::currentJointStatesCallback, this);
set_walking_command_pub_ =
- nh_.advertise("/robotis/walking/command", 0);
- set_walking_param_pub_ = nh_.advertise(
- "/robotis/walking/set_params", 0);
+ nh_.advertise("/humanoid_robot/walking/command", 0);
+ set_walking_param_pub_ = nh_.advertise(
+ "/humanoid_robot/walking/set_params", 0);
get_walking_param_client_ =
- nh_.serviceClient(
- "/robotis/walking/get_params");
+ nh_.serviceClient(
+ "/humanoid_robot/walking/get_params");
prev_time_ = ros::Time::now();
}
@@ -305,7 +305,7 @@ void BallFollower::setWalkingParam(double x_move, double y_move,
}
bool BallFollower::getWalkingParam() {
- op3_walking_module_msgs::GetWalkingParam walking_param_msg;
+ humanoid_robot_walking_module_msgs::GetWalkingParam walking_param_msg;
if (get_walking_param_client_.call(walking_param_msg)) {
current_walking_param_ = walking_param_msg.response.parameters;
@@ -321,4 +321,4 @@ bool BallFollower::getWalkingParam() {
}
}
-} // namespace robotis_op
+} // namespace humanoid_robot_op
diff --git a/op3_demo/src/soccer/ball_tracker.cpp b/humanoid_robot_demo/src/soccer/ball_tracker.cpp
similarity index 95%
rename from op3_demo/src/soccer/ball_tracker.cpp
rename to humanoid_robot_demo/src/soccer/ball_tracker.cpp
index 780613c..283f874 100644
--- a/op3_demo/src/soccer/ball_tracker.cpp
+++ b/humanoid_robot_demo/src/soccer/ball_tracker.cpp
@@ -16,9 +16,9 @@
/* Author: Kayman Jung */
-#include "op3_demo/ball_tracker.h"
+#include "humanoid_robot_demo/ball_tracker.h"
-namespace robotis_op {
+namespace humanoid_robot_op {
BallTracker::BallTracker()
: nh_(ros::this_node::getName()), FOV_WIDTH(35.2 * M_PI / 180),
@@ -36,11 +36,11 @@ BallTracker::BallTracker()
<< d_gain_);
head_joint_offset_pub_ = nh_.advertise(
- "/robotis/head_control/set_joint_states_offset", 0);
+ "/humanoid_robot/head_control/set_joint_states_offset", 0);
head_joint_pub_ = nh_.advertise(
- "/robotis/head_control/set_joint_states", 0);
+ "/humanoid_robot/head_control/set_joint_states", 0);
head_scan_pub_ =
- nh_.advertise("/robotis/head_control/scan_command", 0);
+ nh_.advertise("/humanoid_robot/head_control/scan_command", 0);
// error_pub_ =
// nh_.advertise("/ball_tracker/errors", 0);
@@ -54,7 +54,7 @@ BallTracker::BallTracker()
BallTracker::~BallTracker() {}
void BallTracker::ballPositionCallback(
- const op3_ball_detector::CircleSetStamped::ConstPtr &msg) {
+ const humanoid_robot_ball_detector::CircleSetStamped::ConstPtr &msg) {
for (int idx = 0; idx < msg->circles.size(); idx++) {
if (ball_position_.z >= msg->circles[idx].z)
continue;
@@ -264,4 +264,4 @@ void BallTracker::scanBall() {
head_scan_pub_.publish(scan_msg);
}
-} // namespace robotis_op
+} // namespace humanoid_robot_op
diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/humanoid_robot_demo/src/soccer/soccer_demo.cpp
similarity index 89%
rename from op3_demo/src/soccer/soccer_demo.cpp
rename to humanoid_robot_demo/src/soccer/soccer_demo.cpp
index 3951b28..598432b 100644
--- a/op3_demo/src/soccer/soccer_demo.cpp
+++ b/humanoid_robot_demo/src/soccer/soccer_demo.cpp
@@ -16,9 +16,9 @@
/* Author: Kayman Jung */
-#include "op3_demo/soccer_demo.h"
+#include "humanoid_robot_demo/soccer_demo.h"
-namespace robotis_op {
+namespace humanoid_robot_op {
SoccerDemo::SoccerDemo()
: FALL_FORWARD_LIMIT(60), FALL_BACK_LIMIT(-60), SPIN_RATE(30),
@@ -33,7 +33,7 @@ SoccerDemo::SoccerDemo()
ros::NodeHandle nh(ros::this_node::getName());
std::string default_path =
- ros::package::getPath("op3_gui_demo") + "/config/gui_config.yaml";
+ ros::package::getPath("humanoid_robot_gui_demo") + "/config/gui_config.yaml";
std::string path = nh.param("demo_config", default_path);
parseJointNameFromYaml(path);
@@ -166,25 +166,25 @@ void SoccerDemo::callbackThread() {
ros::NodeHandle nh(ros::this_node::getName());
// subscriber & publisher
- module_control_pub_ = nh.advertise(
- "/robotis/set_joint_ctrl_modules", 0);
+ module_control_pub_ = nh.advertise(
+ "/humanoid_robot/set_joint_ctrl_modules", 0);
motion_index_pub_ =
- nh.advertise("/robotis/action/page_num", 0);
- rgb_led_pub_ = nh.advertise(
- "/robotis/sync_write_item", 0);
+ nh.advertise("/humanoid_robot/action/page_num", 0);
+ rgb_led_pub_ = nh.advertise(
+ "/humanoid_robot/sync_write_item", 0);
- buttuon_sub_ = nh.subscribe("/robotis/open_cr/button", 1,
+ buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1,
&SoccerDemo::buttonHandlerCallback, this);
- demo_command_sub_ = nh.subscribe("/robotis/demo_command", 1,
+ demo_command_sub_ = nh.subscribe("/humanoid_robot/demo_command", 1,
&SoccerDemo::demoCommandCallback, this);
- imu_data_sub_ = nh.subscribe("/robotis/open_cr/imu", 1,
+ imu_data_sub_ = nh.subscribe("/humanoid_robot/open_cr/imu", 1,
&SoccerDemo::imuDataCallback, this);
- is_running_client_ = nh.serviceClient(
- "/robotis/action/is_running");
+ is_running_client_ = nh.serviceClient(
+ "/humanoid_robot/action/is_running");
set_joint_module_client_ =
- nh.serviceClient(
- "/robotis/set_present_joint_ctrl_modules");
+ nh.serviceClient(
+ "/humanoid_robot/set_present_joint_ctrl_modules");
test_pub_ = nh.advertise("/debug_text", 0);
@@ -237,7 +237,7 @@ void SoccerDemo::trackingThread() {
void SoccerDemo::setBodyModuleToDemo(const std::string &body_module,
bool with_head_control) {
- robotis_controller_msgs::JointCtrlModule control_msg;
+ humanoid_robot_controller_msgs::JointCtrlModule control_msg;
std::string head_module = "head_control_module";
std::map::iterator joint_iter;
@@ -269,7 +269,7 @@ void SoccerDemo::setModuleToDemo(const std::string &module_name) {
if (enable_ == false)
return;
- robotis_controller_msgs::JointCtrlModule control_msg;
+ humanoid_robot_controller_msgs::JointCtrlModule control_msg;
std::map::iterator joint_iter;
for (joint_iter = id_joint_table_.begin();
@@ -287,8 +287,8 @@ void SoccerDemo::setModuleToDemo(const std::string &module_name) {
}
void SoccerDemo::callServiceSettingModule(
- const robotis_controller_msgs::JointCtrlModule &modules) {
- robotis_controller_msgs::SetJointModule set_joint_srv;
+ const humanoid_robot_controller_msgs::JointCtrlModule &modules) {
+ humanoid_robot_controller_msgs::SetJointModule set_joint_srv;
set_joint_srv.request.joint_name = modules.joint_name;
set_joint_srv.request.module_name = modules.module_name;
@@ -400,7 +400,7 @@ void SoccerDemo::imuDataCallback(const sensor_msgs::Imu::ConstPtr &msg) {
Eigen::Quaterniond orientation(msg->orientation.w, msg->orientation.x,
msg->orientation.y, msg->orientation.z);
Eigen::MatrixXd rpy_orientation =
- robotis_framework::convertQuaternionToRPY(orientation);
+ humanoid_robot_framework::convertQuaternionToRPY(orientation);
rpy_orientation *= (180 / M_PI);
ROS_INFO_COND(DEBUG_PRINT, "Roll : %3.2f, Pitch : %2.2f",
@@ -453,12 +453,12 @@ void SoccerDemo::handleKick(int ball_position) {
// kick motion
switch (ball_position) {
- case robotis_op::BallFollower::OnRight:
+ case humanoid_robot_op::BallFollower::OnRight:
std::cout << "Kick Motion [R]: " << ball_position << std::endl;
playMotion(is_grass_ ? RightKick + ForGrass : RightKick);
break;
- case robotis_op::BallFollower::OnLeft:
+ case humanoid_robot_op::BallFollower::OnLeft:
std::cout << "Kick Motion [L]: " << ball_position << std::endl;
playMotion(is_grass_ ? LeftKick + ForGrass : LeftKick);
break;
@@ -504,13 +504,13 @@ void SoccerDemo::handleKick() {
}
switch (ball_position) {
- case robotis_op::BallFollower::OnRight:
+ case humanoid_robot_op::BallFollower::OnRight:
std::cout << "Kick Motion [R]: " << ball_position << std::endl;
sendDebugTopic("Kick the ball using Right foot");
playMotion(is_grass_ ? RightKick + ForGrass : RightKick);
break;
- case robotis_op::BallFollower::OnLeft:
+ case humanoid_robot_op::BallFollower::OnLeft:
std::cout << "Kick Motion [L]: " << ball_position << std::endl;
sendDebugTopic("Kick the ball using Left foot");
playMotion(is_grass_ ? LeftKick + ForGrass : LeftKick);
@@ -583,7 +583,7 @@ void SoccerDemo::setRGBLED(int blue, int green, int red) {
int led_full_unit = 0x1F;
int led_value = (blue & led_full_unit) << 10 | (green & led_full_unit) << 5 |
(red & led_full_unit);
- robotis_controller_msgs::SyncWriteItem syncwrite_msg;
+ humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg;
syncwrite_msg.item_name = "LED_RGB";
syncwrite_msg.joint_name.push_back("open-cr");
syncwrite_msg.value.push_back(led_value);
@@ -593,7 +593,7 @@ void SoccerDemo::setRGBLED(int blue, int green, int red) {
// check running of action
bool SoccerDemo::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");
@@ -614,4 +614,4 @@ void SoccerDemo::sendDebugTopic(const std::string &msgs) {
test_pub_.publish(debug_msg);
}
-} // namespace robotis_op
+} // namespace humanoid_robot_op
diff --git a/op3_demo/src/test/button_test.cpp b/humanoid_robot_demo/src/test/button_test.cpp
similarity index 87%
rename from op3_demo/src/test/button_test.cpp
rename to humanoid_robot_demo/src/test/button_test.cpp
index 20049f3..f21b781 100644
--- a/op3_demo/src/test/button_test.cpp
+++ b/humanoid_robot_demo/src/test/button_test.cpp
@@ -16,9 +16,9 @@
/* Author: Kayman Jung */
-#include "op3_demo/button_test.h"
+#include "humanoid_robot_demo/button_test.h"
-namespace robotis_op {
+namespace humanoid_robot_op {
ButtonTest::ButtonTest() : SPIN_RATE(30), led_count_(0), rgb_led_count_(0) {
enable_ = false;
@@ -30,7 +30,7 @@ ButtonTest::ButtonTest() : SPIN_RATE(30), led_count_(0), rgb_led_count_(0) {
boost::thread process_thread =
boost::thread(boost::bind(&ButtonTest::processThread, this));
- default_mp3_path_ = ros::package::getPath("op3_demo") + "/data/mp3/test/";
+ default_mp3_path_ = ros::package::getPath("humanoid_robot_demo") + "/data/mp3/test/";
}
ButtonTest::~ButtonTest() {}
@@ -63,11 +63,11 @@ void ButtonTest::callbackThread() {
ros::NodeHandle nh(ros::this_node::getName());
// subscriber & publisher
- rgb_led_pub_ = nh.advertise(
- "/robotis/sync_write_item", 0);
+ rgb_led_pub_ = nh.advertise(
+ "/humanoid_robot/sync_write_item", 0);
play_sound_pub_ = nh.advertise("/play_sound_file", 0);
- buttuon_sub_ = nh.subscribe("/robotis/open_cr/button", 1,
+ buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1,
&ButtonTest::buttonHandlerCallback, this);
while (nh.ok()) {
@@ -109,7 +109,7 @@ void ButtonTest::setRGBLED(int blue, int green, int red) {
int led_full_unit = 0x1F;
int led_value = (blue & led_full_unit) << 10 | (green & led_full_unit) << 5 |
(red & led_full_unit);
- robotis_controller_msgs::SyncWriteItem syncwrite_msg;
+ humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg;
syncwrite_msg.item_name = "LED_RGB";
syncwrite_msg.joint_name.push_back("open-cr");
syncwrite_msg.value.push_back(led_value);
@@ -118,7 +118,7 @@ void ButtonTest::setRGBLED(int blue, int green, int red) {
}
void ButtonTest::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);
@@ -133,4 +133,4 @@ void ButtonTest::playSound(const std::string &path) {
play_sound_pub_.publish(sound_msg);
}
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
diff --git a/op3_demo/src/test/mic_test.cpp b/humanoid_robot_demo/src/test/mic_test.cpp
similarity index 93%
rename from op3_demo/src/test/mic_test.cpp
rename to humanoid_robot_demo/src/test/mic_test.cpp
index 61bc1ea..5a214ee 100644
--- a/op3_demo/src/test/mic_test.cpp
+++ b/humanoid_robot_demo/src/test/mic_test.cpp
@@ -16,9 +16,9 @@
/* Author: Kayman Jung */
-#include "op3_demo/mic_test.h"
+#include "humanoid_robot_demo/mic_test.h"
-namespace robotis_op {
+namespace humanoid_robot_op {
MicTest::MicTest()
: SPIN_RATE(30), is_wait_(false), wait_time_(-1), test_status_(Ready),
@@ -33,8 +33,8 @@ MicTest::MicTest()
boost::thread(boost::bind(&MicTest::processThread, this));
recording_file_name_ =
- ros::package::getPath("op3_demo") + "/data/mp3/test/mic-test.wav";
- default_mp3_path_ = ros::package::getPath("op3_demo") + "/data/mp3/test/";
+ ros::package::getPath("humanoid_robot_demo") + "/data/mp3/test/mic-test.wav";
+ default_mp3_path_ = ros::package::getPath("humanoid_robot_demo") + "/data/mp3/test/";
start_time_ = ros::Time::now();
}
@@ -117,7 +117,7 @@ void MicTest::callbackThread() {
ros::NodeHandle nh(ros::this_node::getName());
// subscriber & publisher
- buttuon_sub_ = nh.subscribe("/robotis/open_cr/button", 1,
+ buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1,
&MicTest::buttonHandlerCallback, this);
play_sound_pub_ = nh.advertise("/play_sound_file", 0);
@@ -234,4 +234,4 @@ void MicTest::startTimer(double wait_time) {
void MicTest::finishTimer() { wait_time_ = -1; }
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
diff --git a/op3_demo/src/test_node.cpp b/humanoid_robot_demo/src/test_node.cpp
similarity index 85%
rename from op3_demo/src/test_node.cpp
rename to humanoid_robot_demo/src/test_node.cpp
index 65e85ea..5f6045a 100644
--- a/op3_demo/src/test_node.cpp
+++ b/humanoid_robot_demo/src/test_node.cpp
@@ -20,13 +20,13 @@
#include
#include
-#include "op3_demo/action_demo.h"
-#include "op3_demo/button_test.h"
-#include "op3_demo/mic_test.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/button_test.h"
+#include "humanoid_robot_demo/mic_test.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,
@@ -66,26 +66,26 @@ int main(int argc, char **argv) {
ros::init(argc, argv, "self_test_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();
- robotis_op::ButtonTest *button_test = new robotis_op::ButtonTest();
- robotis_op::MicTest *mic_test = new robotis_op::MicTest();
+ 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();
+ humanoid_robot_op::ButtonTest *button_test = new humanoid_robot_op::ButtonTest();
+ humanoid_robot_op::MicTest *mic_test = new humanoid_robot_op::MicTest();
ros::NodeHandle nh(ros::this_node::getName());
- init_pose_pub = nh.advertise("/robotis/base/ini_pose", 0);
+ init_pose_pub = nh.advertise("/humanoid_robot/base/ini_pose", 0);
play_sound_pub = nh.advertise("/play_sound_file", 0);
- led_pub = nh.advertise(
- "/robotis/sync_write_item", 0);
- dxl_torque_pub = nh.advertise("/robotis/dxl_torque", 0);
+ led_pub = nh.advertise(
+ "/humanoid_robot/sync_write_item", 0);
+ dxl_torque_pub = nh.advertise("/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();
@@ -93,7 +93,7 @@ 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();
@@ -101,7 +101,7 @@ 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
@@ -212,7 +212,7 @@ void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg) {
playSound(default_mp3_path + "test/Self test 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
}
}
@@ -314,7 +314,7 @@ 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);
@@ -332,7 +332,7 @@ 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;
}
diff --git a/op3_demo/src/vision/face_tracker.cpp b/humanoid_robot_demo/src/vision/face_tracker.cpp
similarity index 92%
rename from op3_demo/src/vision/face_tracker.cpp
rename to humanoid_robot_demo/src/vision/face_tracker.cpp
index a0079f2..50b9ee9 100644
--- a/op3_demo/src/vision/face_tracker.cpp
+++ b/humanoid_robot_demo/src/vision/face_tracker.cpp
@@ -16,24 +16,24 @@
/* Author: Kayman Jung */
-#include "op3_demo/face_tracker.h"
+#include "humanoid_robot_demo/face_tracker.h"
-namespace robotis_op {
+namespace humanoid_robot_op {
FaceTracker::FaceTracker()
: nh_(ros::this_node::getName()), FOV_WIDTH(35.2 * M_PI / 180),
FOV_HEIGHT(21.6 * M_PI / 180), NOT_FOUND_THRESHOLD(50),
use_head_scan_(false), count_not_found_(0), on_tracking_(false) {
head_joint_offset_pub_ = nh_.advertise(
- "/robotis/head_control/set_joint_states_offset", 0);
+ "/humanoid_robot/head_control/set_joint_states_offset", 0);
head_joint_pub_ = nh_.advertise(
- "/robotis/head_control/set_joint_states", 0);
+ "/humanoid_robot/head_control/set_joint_states", 0);
head_scan_pub_ =
- nh_.advertise("/robotis/head_control/scan_command", 0);
+ nh_.advertise("/humanoid_robot/head_control/scan_command", 0);
face_position_sub_ = nh_.subscribe("/face_position", 1,
&FaceTracker::facePositionCallback, this);
- // face_tracking_command_sub_ = nh_.subscribe("/robotis/demo_command", 1,
+ // face_tracking_command_sub_ = nh_.subscribe("/humanoid_robot/demo_command", 1,
// &FaceTracker::faceTrackerCommandCallback, this);
}
@@ -178,4 +178,4 @@ void FaceTracker::scanFace() {
// ROS_INFO("Scan the ball");
}
-} // namespace robotis_op
+} // namespace humanoid_robot_op
diff --git a/op3_demo/src/vision/vision_demo.cpp b/humanoid_robot_demo/src/vision/vision_demo.cpp
similarity index 88%
rename from op3_demo/src/vision/vision_demo.cpp
rename to humanoid_robot_demo/src/vision/vision_demo.cpp
index cc18b50..26e87c8 100644
--- a/op3_demo/src/vision/vision_demo.cpp
+++ b/humanoid_robot_demo/src/vision/vision_demo.cpp
@@ -16,9 +16,9 @@
/* Author: Kayman Jung */
-#include "op3_demo/vision_demo.h"
+#include "humanoid_robot_demo/vision_demo.h"
-namespace robotis_op {
+namespace humanoid_robot_op {
VisionDemo::VisionDemo()
: SPIN_RATE(30), TIME_TO_INIT(10), tracking_status_(FaceTracker::Waiting) {
@@ -121,22 +121,22 @@ void VisionDemo::callbackThread() {
// subscriber & publisher
module_control_pub_ =
- nh.advertise("/robotis/enable_ctrl_module", 0);
+ nh.advertise("/humanoid_robot/enable_ctrl_module", 0);
motion_index_pub_ =
- nh.advertise("/robotis/action/page_num", 0);
- rgb_led_pub_ = nh.advertise(
- "/robotis/sync_write_item", 0);
+ nh.advertise("/humanoid_robot/action/page_num", 0);
+ rgb_led_pub_ = nh.advertise(
+ "/humanoid_robot/sync_write_item", 0);
face_tracking_command_pub_ =
nh.advertise("/face_tracking/command", 0);
- buttuon_sub_ = nh.subscribe("/robotis/open_cr/button", 1,
+ buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1,
&VisionDemo::buttonHandlerCallback, this);
faceCoord_sub_ =
nh.subscribe("/faceCoord", 1, &VisionDemo::facePositionCallback, this);
set_joint_module_client_ =
- nh.serviceClient(
- "/robotis/set_present_ctrl_modules");
+ nh.serviceClient(
+ "/humanoid_robot/set_present_ctrl_modules");
while (nh.ok()) {
ros::spinOnce();
@@ -171,7 +171,7 @@ void VisionDemo::setModuleToDemo(const std::string &module_name) {
}
void VisionDemo::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) {
@@ -216,7 +216,7 @@ void VisionDemo::setRGBLED(int blue, int green, int red) {
int led_full_unit = 0x1F;
int led_value = (blue & led_full_unit) << 10 | (green & led_full_unit) << 5 |
(red & led_full_unit);
- robotis_controller_msgs::SyncWriteItem syncwrite_msg;
+ humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg;
syncwrite_msg.item_name = "LED_RGB";
syncwrite_msg.joint_name.push_back("open-cr");
syncwrite_msg.value.push_back(led_value);
@@ -224,4 +224,4 @@ void VisionDemo::setRGBLED(int blue, int green, int red) {
rgb_led_pub_.publish(syncwrite_msg);
}
-} /* namespace robotis_op */
+} /* namespace humanoid_robot_op */
diff --git a/humanoid_robot_read_write_demo/CHANGELOG.rst b/humanoid_robot_read_write_demo/CHANGELOG.rst
new file mode 100644
index 0000000..afbfa4c
--- /dev/null
+++ b/humanoid_robot_read_write_demo/CHANGELOG.rst
@@ -0,0 +1,19 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+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
diff --git a/op3_read_write_demo/CMakeLists.txt b/humanoid_robot_read_write_demo/CMakeLists.txt
similarity index 95%
rename from op3_read_write_demo/CMakeLists.txt
rename to humanoid_robot_read_write_demo/CMakeLists.txt
index 3dfc844..79ddb78 100644
--- a/op3_read_write_demo/CMakeLists.txt
+++ b/humanoid_robot_read_write_demo/CMakeLists.txt
@@ -2,14 +2,14 @@
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.0.2)
-project(op3_read_write_demo)
+project(humanoid_robot_read_write_demo)
################################################################################
# Find catkin packages and libraries for catkin and system dependencies
################################################################################
find_package(
catkin REQUIRED COMPONENTS
- robotis_controller_msgs
+ humanoid_robot_controller_msgs
roscpp
sensor_msgs
std_msgs
@@ -34,7 +34,7 @@ catkin_package(
INCLUDE_DIRS
CATKIN_DEPENDS
roscpp
- robotis_controller_msgs
+ humanoid_robot_controller_msgs
roscpp
sensor_msgs
std_msgs
diff --git a/humanoid_robot_read_write_demo/launch/humanoid_robot_read_write.launch b/humanoid_robot_read_write_demo/launch/humanoid_robot_read_write.launch
new file mode 100644
index 0000000..3d1bc19
--- /dev/null
+++ b/humanoid_robot_read_write_demo/launch/humanoid_robot_read_write.launch
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/humanoid_robot_read_write_demo/package.xml b/humanoid_robot_read_write_demo/package.xml
new file mode 100644
index 0000000..584c772
--- /dev/null
+++ b/humanoid_robot_read_write_demo/package.xml
@@ -0,0 +1,31 @@
+
+
+ humanoid_robot_read_write_demo
+ 0.3.0
+
+ The humanoid_robot_read_write_demo package
+
+ Apache 2.0
+ Ronaldson Bellande
+
+ catkin
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_controller_msgs
+ humanoid_robot_manager
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_controller_msgs
+ humanoid_robot_manager
+
+ roscpp
+ std_msgs
+ sensor_msgs
+ humanoid_robot_controller_msgs
+ humanoid_robot_manager
+
+
diff --git a/op3_read_write_demo/src/read_write.cpp b/humanoid_robot_read_write_demo/src/read_write.cpp
similarity index 83%
rename from op3_read_write_demo/src/read_write.cpp
rename to humanoid_robot_read_write_demo/src/read_write.cpp
index b415400..e40f235 100644
--- a/op3_read_write_demo/src/read_write.cpp
+++ b/humanoid_robot_read_write_demo/src/read_write.cpp
@@ -20,8 +20,8 @@
#include
#include
-#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"
void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg);
void jointstatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
@@ -62,32 +62,32 @@ int main(int argc, char **argv) {
ros::NodeHandle nh(ros::this_node::getName());
- init_pose_pub = nh.advertise("/robotis/base/ini_pose", 0);
- sync_write_pub = nh.advertise(
- "/robotis/sync_write_item", 0);
- dxl_torque_pub = nh.advertise("/robotis/dxl_torque", 0);
+ init_pose_pub = nh.advertise("/humanoid_robot/base/ini_pose", 0);
+ sync_write_pub = nh.advertise(
+ "/humanoid_robot/sync_write_item", 0);
+ dxl_torque_pub = nh.advertise("/humanoid_robot/dxl_torque", 0);
write_joint_pub =
- nh.advertise("/robotis/set_joint_states", 0);
+ nh.advertise("/humanoid_robot/set_joint_states", 0);
write_joint_pub2 = nh.advertise(
- "/robotis/direct_control/set_joint_states", 0);
+ "/humanoid_robot/direct_control/set_joint_states", 0);
read_joint_sub =
- nh.subscribe("/robotis/present_joint_states", 1, jointstatesCallback);
+ nh.subscribe("/humanoid_robot/present_joint_states", 1, jointstatesCallback);
buttuon_sub =
- nh.subscribe("/robotis/open_cr/button", 1, buttonHandlerCallback);
+ nh.subscribe("/humanoid_robot/open_cr/button", 1, buttonHandlerCallback);
// service
set_joint_module_client =
- nh.serviceClient(
- "/robotis/set_present_ctrl_modules");
+ nh.serviceClient(
+ "/humanoid_robot/set_present_ctrl_modules");
ros::start();
// set node loop rate
ros::Rate loop_rate(SPIN_RATE);
- // wait for starting of op3_manager
- std::string manager_name = "/op3_manager";
+ // wait for starting of humanoid_robot_manager
+ std::string manager_name = "/humanoid_robot_manager";
while (ros::ok()) {
ros::Duration(1.0).sleep();
@@ -95,7 +95,7 @@ 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");
}
readyToDemo();
@@ -116,7 +116,7 @@ int main(int argc, char **argv) {
}
void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg) {
- // starting demo using robotis_controller
+ // starting demo using humanoid_robot_controller
if (msg->data == "mode") {
control_module = Framework;
ROS_INFO("Button : mode | Framework");
@@ -128,7 +128,7 @@ void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg) {
ROS_INFO("Button : start | Direct control module");
readyToDemo();
}
- // torque on all joints of ROBOTIS-OP3
+ // torque on all joints of ROBOTIS-HUMANOID_ROBOT
else if (msg->data == "user") {
torqueOnAll();
control_module = None;
@@ -186,7 +186,7 @@ void readyToDemo() {
goInitPose();
ROS_INFO("Go Init pose");
- // wait while ROBOTIS-OP3 goes to the init posture.
+ // wait while ROBOTIS-HUMANOID_ROBOT goes to the init posture.
ros::Duration(4.0).sleep();
// turn on R/G/B LED [0x01 | 0x02 | 0x04]
@@ -215,7 +215,7 @@ void goInitPose() {
}
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);
@@ -233,12 +233,12 @@ 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;
}
void setModule(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) {
@@ -257,7 +257,7 @@ void torqueOnAll() {
}
void torqueOff(const std::string &body_side) {
- robotis_controller_msgs::SyncWriteItem syncwrite_msg;
+ humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg;
int torque_value = 0;
syncwrite_msg.item_name = "torque_enable";
diff --git a/op3_ball_detector/CHANGELOG.rst b/op3_ball_detector/CHANGELOG.rst
deleted file mode 100644
index 17f4188..0000000
--- a/op3_ball_detector/CHANGELOG.rst
+++ /dev/null
@@ -1,17 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package op3_ball_detector
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-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 op3_camera_setting package
-* added missing package in find_package()
-* refacoring to release
-* split repositoryfrom ROBOTIS-OP3
-* Contributors: Kayman, Zerom, Pyo
diff --git a/op3_bringup/CHANGELOG.rst b/op3_bringup/CHANGELOG.rst
deleted file mode 100644
index acc44a0..0000000
--- a/op3_bringup/CHANGELOG.rst
+++ /dev/null
@@ -1,16 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package op3_bringup
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-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 op3_bringup
-* changed rviz config file
-* refacoring to release
-* Contributors: Kayman, Pyo
diff --git a/op3_demo/CHANGELOG.rst b/op3_demo/CHANGELOG.rst
deleted file mode 100644
index 9558d4d..0000000
--- a/op3_demo/CHANGELOG.rst
+++ /dev/null
@@ -1,17 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package op3_demo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-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 op3_camera_setting package
-* added missing package in find_package()
-* refacoring to release
-* split repositoryfrom ROBOTIS-OP3
-* Contributors: Kayman, Zerom, Yoshimaru Tanaka, Pyo
diff --git a/op3_demo/launch/demo.launch b/op3_demo/launch/demo.launch
deleted file mode 100644
index 9d7c184..0000000
--- a/op3_demo/launch/demo.launch
+++ /dev/null
@@ -1,28 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/op3_demo/launch/self_test.launch b/op3_demo/launch/self_test.launch
deleted file mode 100644
index 1979ba7..0000000
--- a/op3_demo/launch/self_test.launch
+++ /dev/null
@@ -1,28 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/op3_demo/list/action_script.yaml b/op3_demo/list/action_script.yaml
deleted file mode 100644
index 18ae60f..0000000
--- a/op3_demo/list/action_script.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-# combination action page number and mp3 file path
-action_and_sound:
- 4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Thank you.mp3"
- 41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Introduction.mp3"
- 24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Wow.mp3"
- 23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Yes go.mp3"
- 15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Sit down.mp3"
- 1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Stand up.mp3"
- 54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Clap please.mp3"
- 27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
- 38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye bye.mp3"
-# 101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
- 110 : ""
- 111 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro01.mp3"
- 115 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro02.mp3"
- 118 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_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]
diff --git a/op3_demo/list/action_script_bk.yaml b/op3_demo/list/action_script_bk.yaml
deleted file mode 100644
index 2dd155b..0000000
--- a/op3_demo/list/action_script_bk.yaml
+++ /dev/null
@@ -1,18 +0,0 @@
-# combination action page number and mp3 file path
-action_and_sound:
- 4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Thank you.mp3"
- 41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Introduction.mp3"
- 24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Wow.mp3"
- 23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Yes go.mp3"
- 15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Sit down.mp3"
- 1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Stand up.mp3"
- 54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Clap please.mp3"
- 27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
- 38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye bye.mp3"
- 101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
-
-# play list
-default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
-
-# example of play list
-certificatino: [101]
diff --git a/op3_read_write_demo/CHANGELOG.rst b/op3_read_write_demo/CHANGELOG.rst
deleted file mode 100644
index 6f0e796..0000000
--- a/op3_read_write_demo/CHANGELOG.rst
+++ /dev/null
@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_op3_demo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.3.0 (2021-05-05)
-------------------
-* Update package.xml and CMakeList.txt for noetic branch
-* Contributors: Ronaldson Bellande
diff --git a/op3_read_write_demo/launch/op3_read_write.launch b/op3_read_write_demo/launch/op3_read_write.launch
deleted file mode 100644
index 3c70adb..0000000
--- a/op3_read_write_demo/launch/op3_read_write.launch
+++ /dev/null
@@ -1,24 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/op3_read_write_demo/package.xml b/op3_read_write_demo/package.xml
deleted file mode 100644
index 5cc8f71..0000000
--- a/op3_read_write_demo/package.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-
-
- op3_read_write_demo
- 0.3.0
-
- The op3_read_write_demo package
-
-
- Apache 2.0
- Kayman
- Ronaldson Bellande
-
- http://wiki.ros.org/op3_demo
- http://emanual.robotis.com/docs/en/platform/op3/introduction/
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues
-
- catkin
-
- roscpp
- std_msgs
- sensor_msgs
- robotis_controller_msgs
- op3_manager
-
- roscpp
- std_msgs
- sensor_msgs
- robotis_controller_msgs
- op3_manager
-
- roscpp
- std_msgs
- sensor_msgs
- robotis_controller_msgs
- op3_manager
-
-
diff --git a/requirements.txt b/requirements/requirements.txt
similarity index 100%
rename from requirements.txt
rename to requirements/requirements.txt
diff --git a/requirements/ros_repository_requirements.txt b/requirements/ros_repository_requirements.txt
new file mode 100644
index 0000000..e3c338f
--- /dev/null
+++ b/requirements/ros_repository_requirements.txt
@@ -0,0 +1,9 @@
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-msgs
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Tools
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework-msgs
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Common
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Utility
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Demo
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Math
diff --git a/ros_requirements.txt b/requirements/ros_requirements.txt
similarity index 100%
rename from ros_requirements.txt
rename to requirements/ros_requirements.txt
diff --git a/system_requirements.txt b/requirements/system_requirements.txt
similarity index 100%
rename from system_requirements.txt
rename to requirements/system_requirements.txt
diff --git a/robotis_op3_demo/CHANGELOG.rst b/robotis_op3_demo/CHANGELOG.rst
deleted file mode 100644
index 34b4ee4..0000000
--- a/robotis_op3_demo/CHANGELOG.rst
+++ /dev/null
@@ -1,19 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_op3_demo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-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 op3_camera_setting package
-* added missing package in find_package()
-* updated CMakeLists.txt and package.xml of op3_bringup
-* changed rviz config file
-* refacoring to release
-* split repositoryfrom ROBOTIS-OP3
-* Contributors: Kayman, Zerom, Yoshimaru Tanaka, Pyo
diff --git a/robotis_op3_demo/package.xml b/robotis_op3_demo/package.xml
deleted file mode 100644
index 3922372..0000000
--- a/robotis_op3_demo/package.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-
-
- robotis_op3_demo
- 0.3.0
-
- ROS packages for the robotis_op3_demo (meta package)
-
- Apache 2.0
- Kayman
- Ronaldson Bellande
-
- http://wiki.ros.org/robotis_op3_demo
- http://emanual.robotis.com/docs/en/platform/op3/introduction/
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo
- https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues
-
- catkin
-
- op3_ball_detector
- op3_bringup
- op3_demo
-
- op3_ball_detector
- op3_bringup
- op3_demo
-
- op3_ball_detector
- op3_bringup
- op3_demo
-
-
-
-
-
diff --git a/ros_repository_requirements.txt b/ros_repository_requirements.txt
deleted file mode 100644
index 09c4578..0000000
--- a/ros_repository_requirements.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-msgs
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Tools
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework-msgs
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Common
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Utility
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Demo
-git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Math