diff --git a/.github/workflows/clone.yml b/.github/workflows/clone.yml
new file mode 100644
index 0000000..074054b
--- /dev/null
+++ b/.github/workflows/clone.yml
@@ -0,0 +1,90 @@
+name: GitHub Clone Count Update Everyday
+
+on:
+ schedule:
+ - cron: "0 */24 * * *"
+ workflow_dispatch:
+
+jobs:
+ build:
+ runs-on: ubuntu-latest
+
+ steps:
+ - uses: actions/checkout@v2
+
+ - name: gh login
+ run: echo "${{ secrets.SECRET_TOKEN }}" | gh auth login --with-token
+
+ - name: parse latest clone count
+ run: |
+ curl --user "${{ github.actor }}:${{ secrets.SECRET_TOKEN }}" \
+ -H "Accept: application/vnd.github.v3+json" \
+ https://api.github.com/repos/${{ github.repository }}/traffic/clones \
+ > clone.json
+
+ - name: create gist and download previous count
+ id: set_id
+ run: |
+ if gh secret list | grep -q "GIST_ID"
+ then
+ echo "GIST_ID found"
+ echo "GIST=${{ secrets.GIST_ID }}" >> $GITHUB_OUTPUT
+ curl https://gist.githubusercontent.com/${{ github.actor }}/${{ secrets.GIST_ID }}/raw/clone.json > clone_before.json
+ if cat clone_before.json | grep '404: Not Found'; then
+ echo "GIST_ID not valid anymore. Creating another gist..."
+ gist_id=$(gh gist create clone.json | awk -F / '{print $NF}')
+ echo $gist_id | gh secret set GIST_ID
+ echo "GIST=$gist_id" >> $GITHUB_OUTPUT
+ cp clone.json clone_before.json
+ git rm --ignore-unmatch CLONE.md
+ fi
+ else
+ echo "GIST_ID not found. Creating a gist..."
+ gist_id=$(gh gist create clone.json | awk -F / '{print $NF}')
+ echo $gist_id | gh secret set GIST_ID
+ echo "GIST=$gist_id" >> $GITHUB_OUTPUT
+ cp clone.json clone_before.json
+ fi
+
+ - name: update clone.json
+ run: |
+ curl https://raw.githubusercontent.com/MShawon/github-clone-count-badge/master/main.py > main.py
+ python3 main.py
+
+ - name: Update gist with latest count
+ run: |
+ content=$(sed -e 's/\\/\\\\/g' -e 's/\t/\\t/g' -e 's/\"/\\"/g' -e 's/\r//g' "clone.json" | sed -E ':a;N;$!ba;s/\r{0,1}\n/\\n/g')
+ echo '{"description": "${{ github.repository }} clone statistics", "files": {"clone.json": {"content": "'"$content"'"}}}' > post_clone.json
+ curl -s -X PATCH \
+ --user "${{ github.actor }}:${{ secrets.SECRET_TOKEN }}" \
+ -H "Content-Type: application/json" \
+ -d @post_clone.json https://api.github.com/gists/${{ steps.set_id.outputs.GIST }} > /dev/null 2>&1
+
+ if [ ! -f CLONE.md ]; then
+ shields="https://img.shields.io/badge/dynamic/json?color=success&label=Clone&query=count&url="
+ url="https://gist.githubusercontent.com/${{ github.actor }}/${{ steps.set_id.outputs.GIST }}/raw/clone.json"
+ repo="https://github.com/MShawon/github-clone-count-badge"
+ echo ''> CLONE.md
+ echo '
+ **Markdown**
+
+ ```markdown' >> CLONE.md
+ echo "[]($repo)" >> CLONE.md
+ echo '
+ ```
+
+ **HTML**
+ ```html' >> CLONE.md
+ echo "
" >> CLONE.md
+ echo '```' >> CLONE.md
+
+ git add CLONE.md
+ git config --global user.name "GitHub Action"
+ git config --global user.email "action@github.com"
+ git commit -m "create clone count badge"
+ fi
+
+ - name: Push
+ uses: ad-m/github-push-action@master
+ with:
+ github_token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/git_scripts/.gitignore b/git_scripts/.gitignore
new file mode 100644
index 0000000..e5a7a9c
--- /dev/null
+++ b/git_scripts/.gitignore
@@ -0,0 +1,3 @@
+fix_errors.sh
+push.sh
+repository_recal.sh
diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch.py b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch.py
new file mode 100644
index 0000000..9b89968
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch.py
@@ -0,0 +1,76 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch commandi
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_bringup", "humanoid_robot_intelligence_control_system_bringup.launch"] + args
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+ # Create a list to hold all nodes to be launched
+ nodes_to_launch = []
+
+ # Add the HUMANOID_ROBOT Manager launch file
+ nodes_to_launch.append(IncludeLaunchDescription(
+ PythonLaunchDescriptionSource([
+ '$(find humanoid_robot_intelligence_control_system_manager)/launch/',
+ 'humanoid_robot_intelligence_control_system_manager.launch.py'
+ ])
+ ))
+
+ # Add the UVC camera node
+ nodes_to_launch.append(Node(
+ package='usb_cam',
+ executable='usb_cam_node',
+ name='usb_cam_node',
+ output='screen',
+ parameters=[{
+ 'video_device': '/dev/video0',
+ 'image_width': 1280,
+ 'image_height': 720,
+ 'framerate': 30,
+ 'camera_frame_id': 'cam_link',
+ 'camera_name': 'camera'
+ }]
+ ))
+
+ # Return the LaunchDescription containing all nodes
+ return LaunchDescription(nodes_to_launch)
+
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch.py b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch.py
new file mode 100644
index 0000000..ac4898f
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch.py
@@ -0,0 +1,85 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, ExecuteProcess
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import FindExecutable, Command
+
+
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_bringup", "humanoid_robot_intelligence_control_system_bringup_visualization.launch"] + args
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+ # Create a list to hold all nodes to be launched
+ nodes_to_launch = []
+
+ # Add robot description
+ nodes_to_launch.append(ExecuteProcess(
+ cmd=[FindExecutable(name='xacro'), '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'],
+ output='screen'
+ ))
+
+ # Add joint state publisher
+ nodes_to_launch.append(Node(
+ package='joint_state_publisher',
+ executable='joint_state_publisher',
+ name='joint_state_publisher',
+ parameters=[{'use_gui': True}],
+ remappings=[('/robot/joint_states', '/humanoid_robot_intelligence_control_system/present_joint_states')]
+ ))
+
+ # Add robot state publisher
+ nodes_to_launch.append(Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ remappings=[('/joint_states', '/humanoid_robot_intelligence_control_system/present_joint_states')]
+ ))
+
+ # Add rviz
+ nodes_to_launch.append(Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ arguments=['-d', '$(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz']
+ ))
+
+ # Return the LaunchDescription containing all nodes
+ return LaunchDescription(nodes_to_launch)
+
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/ros1/humanoid_robot_intelligence_control_system_bringup.launch b/humanoid_robot_intelligence_control_system_bringup/launch/ros1/humanoid_robot_intelligence_control_system_bringup.launch
new file mode 100644
index 0000000..d9f4f02
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/launch/ros1/humanoid_robot_intelligence_control_system_bringup.launch
@@ -0,0 +1,15 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/ros1/humanoid_robot_intelligence_control_system_bringup_visualization.launch b/humanoid_robot_intelligence_control_system_bringup/launch/ros1/humanoid_robot_intelligence_control_system_bringup_visualization.launch
new file mode 100644
index 0000000..7c8a537
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_bringup/launch/ros1/humanoid_robot_intelligence_control_system_bringup_visualization.launch
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+ [/humanoid_robot_intelligence_control_system/present_joint_states]
+
+
+
+
+
+
+
+
+
+
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch.py b/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch.py
new file mode 100644
index 0000000..dbdd3ba
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch.py
@@ -0,0 +1,121 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_read_write_demo", "humanoid_robot_intelligence_control_system_read_write.launch"] + args
+
+ # Add parameters
+ roslaunch_command.extend([
+ "gazebo:=false",
+ "gazebo_robot_name:=humanoid_robot_intelligence_control_system",
+ "offset_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml",
+ "robot_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot",
+ "init_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml",
+ "device_name:=/dev/ttyUSB0",
+ "/humanoid_robot_intelligence_control_system/direct_control/default_moving_time:=0.04",
+ "/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle:=90"
+ ])
+
+ # Add nodes
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_manager", "humanoid_robot_intelligence_control_system_manager", "angle_unit:=30",
+ "humanoid_robot_intelligence_control_system_localization", "humanoid_robot_intelligence_control_system_localization",
+ "humanoid_robot_intelligence_control_system_read_write_demo", "read_write"
+ ])
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+ # Declare launch arguments
+ gazebo_arg = DeclareLaunchArgument('gazebo', default_value='false')
+ gazebo_robot_name_arg = DeclareLaunchArgument('gazebo_robot_name', default_value='humanoid_robot_intelligence_control_system')
+ offset_file_path_arg = DeclareLaunchArgument('offset_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml')
+ robot_file_path_arg = DeclareLaunchArgument('robot_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot')
+ init_file_path_arg = DeclareLaunchArgument('init_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml')
+ device_name_arg = DeclareLaunchArgument('device_name', default_value='/dev/ttyUSB0')
+
+ # Create a list to hold all nodes to be launched
+ nodes_to_launch = []
+
+ # Add HUMANOID_ROBOT Manager node
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_manager',
+ executable='humanoid_robot_intelligence_control_system_manager',
+ name='humanoid_robot_intelligence_control_system_manager',
+ output='screen',
+ parameters=[
+ {'angle_unit': 30},
+ {'gazebo': LaunchConfiguration('gazebo')},
+ {'gazebo_robot_name': LaunchConfiguration('gazebo_robot_name')},
+ {'offset_file_path': LaunchConfiguration('offset_file_path')},
+ {'robot_file_path': LaunchConfiguration('robot_file_path')},
+ {'init_file_path': LaunchConfiguration('init_file_path')},
+ {'device_name': LaunchConfiguration('device_name')},
+ {'/humanoid_robot_intelligence_control_system/direct_control/default_moving_time': 0.04},
+ {'/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle': 90}
+ ]
+ ))
+
+ # Add HUMANOID_ROBOT Localization node
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_localization',
+ executable='humanoid_robot_intelligence_control_system_localization',
+ name='humanoid_robot_intelligence_control_system_localization',
+ output='screen'
+ ))
+
+ # Add HUMANOID_ROBOT Read-Write demo node
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_read_write_demo',
+ executable='read_write',
+ name='humanoid_robot_intelligence_control_system_read_write',
+ output='screen'
+ ))
+
+ # Return the LaunchDescription containing all nodes and arguments
+ return LaunchDescription([
+ gazebo_arg,
+ gazebo_robot_name_arg,
+ offset_file_path_arg,
+ robot_file_path_arg,
+ init_file_path_arg,
+ device_name_arg
+ ] + nodes_to_launch)
+
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/launch/ros1/humanoid_robot_intelligence_control_system_read_write.launch b/humanoid_robot_intelligence_control_system_read_write_demo/launch/ros1/humanoid_robot_intelligence_control_system_read_write.launch
new file mode 100644
index 0000000..8bf520d
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_read_write_demo/launch/ros1/humanoid_robot_intelligence_control_system_read_write.launch
@@ -0,0 +1,34 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/setup.py b/humanoid_robot_intelligence_control_system_read_write_demo/setup.py
index 723c5aa..317c74c 100644
--- a/humanoid_robot_intelligence_control_system_read_write_demo/setup.py
+++ b/humanoid_robot_intelligence_control_system_read_write_demo/setup.py
@@ -1,3 +1,18 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup