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