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Ronaldson Bellande 2023-11-13 18:20:59 -05:00 committed by GitHub
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2
.travis.yml
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@ -18,7 +18,7 @@ notifications:
- ronaldsonbellande@gmail.com
env:
matrix:
- ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".humanoid_robot_demo.rosinstall"
- ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".humanoid_robot_intelligence_control_system_demo.rosinstall"
branches:
only:
- master

24
README.md
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@ -5,28 +5,28 @@
[![Sponsor](https://img.shields.io/badge/Sponsor-Robotics%20Sensors%20Research-red?style=for-the-badge&logo=github)](https://github.com/sponsors/Robotics-Sensors)
# Stats
[![GitHub stars](https://img.shields.io/github/stars/Robotics-Sensors/humanoid_robot_demos.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_demos/stargazers)
[![GitHub forks](https://img.shields.io/github/forks/Robotics-Sensors/humanoid_robot_demos.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_demos/network)
[![GitHub watchers](https://img.shields.io/github/watchers/Robotics-Sensors/humanoid_robot_demos.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_demos/watchers)
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[![GitHub forks](https://img.shields.io/github/forks/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/network)
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[![GitHub last commit](https://img.shields.io/github/last-commit/Robotics-Sensors/humanoid_robot_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_demos/commits)
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--------------------------------------------------------------------------------------------------------
# Repository Website
https://robotics-sensors.github.io/humanoid_robot_demos
https://robotics-sensors.github.io/humanoid_robot_intelligence_control_system_demos
--------------------------------------------------------------------------------------------------------
Updated Version [humanoid_robot_module](https://github.com/Robotics-Sensors/humanoid_robot_demos) readme.
Updated Version [humanoid_robot_intelligence_control_system_module](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos) readme.
Old Version/Previous Used for Different Context [ROBOTIS-OP3-Demo](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo) readme.
# Release
[![Latest Release](https://img.shields.io/github/v/release/Robotics-Sensors/humanoid_robot_tools?style=for-the-badge&color=yellow)](https://github.com/Robotics-Sensors/humanoid_robot_demos/releases/)
[![Latest Release](https://img.shields.io/github/v/release/Robotics-Sensors/humanoid_robot_intelligence_control_system_tools?style=for-the-badge&color=yellow)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/releases/)
# Contact
Depeding on the repository, If you are interested in accessing the complete version or other repository related to this repository, we kindly request that you reach out to the organization's director or the company behind this project. We invite you to explore the USE CASE to understand the specific terms and conditions for usage. To utilize this repository, it is imperative that you adhere to the guidelines outlined in the USE CASE. For those interested in showing their support, becoming a sponsor of the organization is an option, and detailed information can be found within the USE CASE and License documents. Furthermore, we encourage you to join our official Discord community, where you can engage with like-minded individuals, contribute to the project, and stay up-to-date with the latest developments. It's worth noting that while a fraction of research is publicly accessible, the majority remains private. To gain insights into the wealth of knowledge held by the Company or the organization's director, we recommend direct contact for more information.
@ -49,4 +49,4 @@ Latest versions and Maintainer is on organization https://github.com/Robotics-Se
* Ronaldson Bellande
## License
This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0), see [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE) for more information.
This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0), see [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE) for more information.

42
humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml
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@ -1,42 +0,0 @@
<?xml version="1.0"?>
<package format="2">
<name>humanoid_robot_demo</name>
<version>0.3.0</version>
<description>
ROS packages for the humanoid_robot_demo (meta package)
</description>
<license>Apache 2.0</license>
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_bringup</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_demo</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_bringup</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_demo</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_bringup</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_demo</exec_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_bringup</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_demo</build_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_bringup</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_demo</build_export_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_bringup</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_demo</exec_depend>
<export></export>
</package>

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

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

23
humanoid_robot_demo/list/action_script.yaml
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@ -1,23 +0,0 @@
# 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]

18
humanoid_robot_demo/list/action_script_bk.yaml
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@ -1,18 +0,0 @@
# 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]

4
humanoid_robot_ball_detector/CHANGELOG.rst → humanoid_robot_intelligence_control_system_ball_detector/CHANGELOG.rst
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@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_ball_detector
Changelog for package humanoid_robot_intelligence_control_system_ball_detector
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)
@ -27,7 +27,7 @@ Changelog for package humanoid_robot_ball_detector
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 launch files in order to move the camera setting to humanoid_robot_intelligence_control_system_camera_setting package
* added missing package in find_package()
* refacoring to release
* split repositoryfrom ROBOTIS-HUMANOID_ROBOT

2
humanoid_robot_ball_detector/CMakeLists.txt → humanoid_robot_intelligence_control_system_ball_detector/CMakeLists.txt
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@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_ball_detector)
project(humanoid_robot_intelligence_control_system_ball_detector)
if($ENV{ROS_VERSION} EQUAL 1)

2
humanoid_robot_ball_detector/cfg/DetectorParams.cfg → humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParams.cfg
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@ -1,5 +1,5 @@
#!/usr/bin/env python
PACKAGE='humanoid_robot_ball_detector'
PACKAGE='humanoid_robot_intelligence_control_system_ball_detector'
from dynamic_reconfigure.parameter_generator_catkin import *

2
humanoid_robot_ball_detector/cfg/DetectorParamsBlue.cfg → humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsBlue.cfg
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@ -1,5 +1,5 @@
#!/usr/bin/env python
PACKAGE='humanoid_robot_ball_detector'
PACKAGE='humanoid_robot_intelligence_control_system_ball_detector'
from dynamic_reconfigure.parameter_generator_catkin import *

2
humanoid_robot_ball_detector/cfg/DetectorParamsRed.cfg → humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsRed.cfg
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@ -1,5 +1,5 @@
#!/usr/bin/env python
PACKAGE='humanoid_robot_ball_detector'
PACKAGE='humanoid_robot_intelligence_control_system_ball_detector'
from dynamic_reconfigure.parameter_generator_catkin import *

0
humanoid_robot_ball_detector/config/ball_detector_params.yaml → humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params.yaml
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0
humanoid_robot_ball_detector/config/ball_detector_params_default.yaml → humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params_default.yaml
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0
humanoid_robot_ball_detector/config/ball_detector_params_op.yaml → humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params_op.yaml
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30
humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h → humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector.h
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@ -36,14 +36,14 @@
#include <opencv2/imgproc/imgproc.hpp>
#include <yaml-cpp/yaml.h>
#include "humanoid_robot_ball_detector/ball_detector_config.h"
#include "humanoid_robot_intelligence_control_system_ball_detector/ball_detector_config.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"
#include "humanoid_robot_intelligence_control_system_ball_detector/CircleSetStamped.h"
#include "humanoid_robot_intelligence_control_system_ball_detector/DetectorParamsConfig.h"
#include "humanoid_robot_intelligence_control_system_ball_detector/GetParameters.h"
#include "humanoid_robot_intelligence_control_system_ball_detector/SetParameters.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
class BallDetector {
public:
@ -71,15 +71,15 @@ protected:
// callbacks to camera info subscription
void cameraInfoCallback(const sensor_msgs::CameraInfo &msg);
void dynParamCallback(humanoid_robot_ball_detector::DetectorParamsConfig &config,
void dynParamCallback(humanoid_robot_intelligence_control_system_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(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);
bool setParamCallback(humanoid_robot_intelligence_control_system_ball_detector::SetParameters::Request &req,
humanoid_robot_intelligence_control_system_ball_detector::SetParameters::Response &res);
bool getParamCallback(humanoid_robot_intelligence_control_system_ball_detector::GetParameters::Request &req,
humanoid_robot_intelligence_control_system_ball_detector::GetParameters::Response &res);
void resetParameter();
void publishParam();
@ -117,7 +117,7 @@ protected:
int not_found_count_;
// circle set publisher
humanoid_robot_ball_detector::CircleSetStamped circles_msg_;
humanoid_robot_intelligence_control_system_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<humanoid_robot_ball_detector::DetectorParamsConfig>
dynamic_reconfigure::Server<humanoid_robot_intelligence_control_system_ball_detector::DetectorParamsConfig>
param_server_;
dynamic_reconfigure::Server<
humanoid_robot_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
humanoid_robot_intelligence_control_system_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
};
} // namespace humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op
#endif // _BALL_DETECTOR_H_

4
humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector_config.h → humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector_config.h
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@ -19,7 +19,7 @@
#ifndef _DETECTOR_CONFIG_H_
#define _DETECTOR_CONFIG_H_
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
// constants
const int GAUSSIAN_BLUR_SIZE_DEFAULT = 7;
@ -86,5 +86,5 @@ public:
~DetectorConfig() {}
};
} // namespace humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op
#endif // _DETECTOR_CONFIG_H_

4
humanoid_robot_ball_detector/launch/ball_detector.launch → humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector.launch
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@ -1,9 +1,9 @@
<?xml version="1.0"?>
<launch>
<arg name="config_path" default="$(find humanoid_robot_ball_detector)/config/ball_detector_params.yaml" />
<arg name="config_path" default="$(find humanoid_robot_intelligence_control_system_ball_detector)/config/ball_detector_params.yaml" />
<!-- ball detector -->
<node pkg="humanoid_robot_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
<node pkg="humanoid_robot_intelligence_control_system_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
<rosparam command="load" file="$(arg config_path)" />
<param name="yaml_path" type="string" value="$(arg config_path)" />
<remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />

2
humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch → humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_usb_cam.launch
View File

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

2
humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch → humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_uvc.launch
View File

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

0
humanoid_robot_ball_detector/msg/BallDetectorParams.msg → humanoid_robot_intelligence_control_system_ball_detector/msg/BallDetectorParams.msg
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0
humanoid_robot_ball_detector/msg/CircleSetStamped.msg → humanoid_robot_intelligence_control_system_ball_detector/msg/CircleSetStamped.msg
View File

2
humanoid_robot_ball_detector/package.xml → humanoid_robot_intelligence_control_system_ball_detector/package.xml
View File

@ -1,6 +1,6 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_ball_detector</name>
<name>humanoid_robot_intelligence_control_system_ball_detector</name>
<version>0.3.2</version>
<description>
This package implements a circle-like shape detector of the input image

0
humanoid_robot_ball_detector/rviz/ball_detector.rviz → humanoid_robot_intelligence_control_system_ball_detector/rviz/ball_detector.rviz
View File

31
humanoid_robot_ball_detector/src/ball_detector.cpp → humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector.cpp
View File

@ -18,9 +18,9 @@
#include <fstream>
#include "humanoid_robot_ball_detector/ball_detector.h"
#include "humanoid_robot_intelligence_control_system_ball_detector/ball_detector.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
BallDetector::BallDetector()
: nh_(ros::this_node::getName()), it_(this->nh_), enable_(true),
@ -88,7 +88,8 @@ BallDetector::BallDetector()
// sets publishers
image_pub_ = it_.advertise("image_out", 100);
circles_pub_ =
nh_.advertise<humanoid_robot_ball_detector::CircleSetStamped>("circle_set", 100);
nh_.advertise<humanoid_robot_intelligence_control_system_ball_detector::
CircleSetStamped>("circle_set", 100);
camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 100);
// sets subscribers
@ -106,7 +107,8 @@ BallDetector::BallDetector()
// web setting
param_pub_ =
nh_.advertise<humanoid_robot_ball_detector::BallDetectorParams>("current_params", 1);
nh_.advertise<humanoid_robot_intelligence_control_system_ball_detector::
BallDetectorParams>("current_params", 1);
param_command_sub_ = nh_.subscribe("param_command", 1,
&BallDetector::paramCommandCallback, this);
set_param_client_ =
@ -243,7 +245,9 @@ void BallDetector::imageCallback(const sensor_msgs::ImageConstPtr &msg) {
}
void BallDetector::dynParamCallback(
humanoid_robot_ball_detector::DetectorParamsConfig &config, uint32_t level) {
humanoid_robot_intelligence_control_system_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 +303,10 @@ void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg) {
}
bool BallDetector::setParamCallback(
humanoid_robot_ball_detector::SetParameters::Request &req,
humanoid_robot_ball_detector::SetParameters::Response &res) {
humanoid_robot_intelligence_control_system_ball_detector::SetParameters::
Request &req,
humanoid_robot_intelligence_control_system_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 +331,10 @@ bool BallDetector::setParamCallback(
}
bool BallDetector::getParamCallback(
humanoid_robot_ball_detector::GetParameters::Request &req,
humanoid_robot_ball_detector::GetParameters::Response &res) {
humanoid_robot_intelligence_control_system_ball_detector::GetParameters::
Request &req,
humanoid_robot_intelligence_control_system_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 +407,8 @@ void BallDetector::resetParameter() {
}
void BallDetector::publishParam() {
humanoid_robot_ball_detector::BallDetectorParams params;
humanoid_robot_intelligence_control_system_ball_detector::BallDetectorParams
params;
params.gaussian_blur_size = params_config_.gaussian_blur_size;
params.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
@ -892,4 +901,4 @@ void BallDetector::drawOutputImage() {
0); // circle outline in blue
}
} // namespace humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op

4
humanoid_robot_ball_detector/src/ball_detector_node.cpp → humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector_node.cpp
View File

@ -16,7 +16,7 @@
/* Author: Kayman Jung */
#include "humanoid_robot_ball_detector/ball_detector.h"
#include "humanoid_robot_intelligence_control_system_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
humanoid_robot_op::BallDetector detector;
humanoid_robot_intelligence_control_system_op::BallDetector detector;
// set node loop rate
ros::Rate loop_rate(30);

0
humanoid_robot_ball_detector/srv/GetParameters.srv → humanoid_robot_intelligence_control_system_ball_detector/srv/GetParameters.srv
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0
humanoid_robot_ball_detector/srv/SetParameters.srv → humanoid_robot_intelligence_control_system_ball_detector/srv/SetParameters.srv
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4
humanoid_robot_bringup/CHANGELOG.rst → humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst
View File

@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_bringup
Changelog for package humanoid_robot_intelligence_control_system_bringup
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)
@ -27,7 +27,7 @@ Changelog for package humanoid_robot_bringup
0.1.0 (2018-04-19)
------------------
* first release for ROS Kinetic
* updated CMakeLists.txt and package.xml of humanoid_robot_bringup
* updated CMakeLists.txt and package.xml of humanoid_robot_intelligence_control_system_bringup
* changed rviz config file
* refacoring to release
* Contributors: Kayman, Pyo

2
humanoid_robot_bringup/CMakeLists.txt → humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt
View File

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_bringup)
project(humanoid_robot_intelligence_control_system_bringup)
if($ENV{ROS_VERSION} EQUAL 1)

2
humanoid_robot_bringup/launch/humanoid_robot_bringup.launch → humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch
View File

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

8
humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch → humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch
View File

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

26
humanoid_robot_bringup/package.xml → humanoid_robot_intelligence_control_system_bringup/package.xml
View File

@ -1,6 +1,6 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_bringup</name>
<name>humanoid_robot_intelligence_control_system_bringup</name>
<version>0.3.2</version>
<description>
This package is a demo for first time users.
@ -12,22 +12,22 @@
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_description</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_description</build_depend>
<build_depend condition="$ROS_VERSION == 1">usb_cam</build_depend>
<build_depend condition="$ROS_VERSION == 1">joint_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 1">robot_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 1">rviz</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_description</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_description</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">usb_cam</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">joint_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">robot_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">rviz</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_description</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_description</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">usb_cam</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">joint_state_publisher</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">robot_state_publisher</exec_depend>
@ -36,22 +36,22 @@
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_description</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_description</build_depend>
<build_depend condition="$ROS_VERSION == 2">usb_cam</build_depend>
<build_depend condition="$ROS_VERSION == 2">joint_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 2">robot_state_publisher</build_depend>
<build_depend condition="$ROS_VERSION == 2">rviz</build_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_description</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_description</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">usb_cam</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">joint_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">robot_state_publisher</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">rviz</build_export_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_description</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_description</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">usb_cam</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">joint_state_publisher</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">robot_state_publisher</exec_depend>

2
humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz → humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz
View File

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

4
humanoid_robot_demo/CHANGELOG.rst → humanoid_robot_intelligence_control_system_demo/CHANGELOG.rst
View File

@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_demo
Changelog for package humanoid_robot_intelligence_control_system_demo
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)
@ -27,7 +27,7 @@ Changelog for package humanoid_robot_demo
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 launch files in order to move the camera setting to humanoid_robot_intelligence_control_system_camera_setting package
* added missing package in find_package()
* refacoring to release
* split repositoryfrom ROBOTIS-HUMANOID_ROBOT

22
humanoid_robot_demo/CMakeLists.txt → humanoid_robot_intelligence_control_system_demo/CMakeLists.txt
View File

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_demo)
project(humanoid_robot_intelligence_control_system_demo)
if($ENV{ROS_VERSION} EQUAL 1)
@ -10,12 +10,12 @@ if($ENV{ROS_VERSION} EQUAL 1)
std_msgs
sensor_msgs
geometry_msgs
humanoid_robot_controller_msgs
humanoid_robot_walking_module_msgs
humanoid_robot_action_module_msgs
humanoid_robot_intelligence_control_system_controller_msgs
humanoid_robot_intelligence_control_system_walking_module_msgs
humanoid_robot_intelligence_control_system_action_module_msgs
cmake_modules
humanoid_robot_math
humanoid_robot_ball_detector
humanoid_robot_intelligence_control_system_math
humanoid_robot_intelligence_control_system_ball_detector
)
find_package(Boost REQUIRED COMPONENTS thread)
find_package(Eigen3 REQUIRED)
@ -52,12 +52,12 @@ if($ENV{ROS_VERSION} EQUAL 1)
std_msgs
sensor_msgs
geometry_msgs
humanoid_robot_controller_msgs
humanoid_robot_walking_module_msgs
humanoid_robot_action_module_msgs
humanoid_robot_intelligence_control_system_controller_msgs
humanoid_robot_intelligence_control_system_walking_module_msgs
humanoid_robot_intelligence_control_system_action_module_msgs
cmake_modules
humanoid_robot_math
humanoid_robot_ball_detector
humanoid_robot_intelligence_control_system_math
humanoid_robot_intelligence_control_system_ball_detector
DEPENDS Boost EIGEN3
)
endif()

0
humanoid_robot_demo/data/mp3/Autonomous soccer mode.mp3 → humanoid_robot_intelligence_control_system_demo/data/mp3/Autonomous soccer mode.mp3
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
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0
humanoid_robot_demo/data/mp3/test/Start button test mode.mp3 → humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start button test mode.mp3
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0
humanoid_robot_demo/data/mp3/test/Start mic test mode.mp3 → humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start mic test mode.mp3
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0
humanoid_robot_demo/data/mp3/test/Start playing.mp3 → humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start playing.mp3
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0
humanoid_robot_demo/data/mp3/test/Start recording.mp3 → humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start recording.mp3
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0
humanoid_robot_demo/data/mp3/test/User button long pressed.mp3 → humanoid_robot_intelligence_control_system_demo/data/mp3/test/User button long pressed.mp3
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0
humanoid_robot_demo/data/mp3/test/User button pressed.mp3 → humanoid_robot_intelligence_control_system_demo/data/mp3/test/User button pressed.mp3
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6
humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst → humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst
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@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_demo
Changelog for package humanoid_robot_intelligence_control_system_demo
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.1 (2023-09-27)
@ -20,9 +20,9 @@ Changelog for package humanoid_robot_demo
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 launch files in order to move the camera setting to humanoid_robot_intelligence_control_system_camera_setting package
* added missing package in find_package()
* updated CMakeLists.txt and package.xml of humanoid_robot_bringup
* updated CMakeLists.txt and package.xml of humanoid_robot_intelligence_control_system_bringup
* changed rviz config file
* refacoring to release
* split repositoryfrom ROBOTIS-HUMANOID_ROBOT

2
humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt → humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.0.2)
project(humanoid_robot_demo)
project(humanoid_robot_intelligence_control_system_demo)
find_package(catkin REQUIRED)
catkin_metapackage()

42
humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/package.xml Normal file
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@ -0,0 +1,42 @@
<?xml version="1.0"?>
<package format="2">
<name>humanoid_robot_intelligence_control_system_demo</name>
<version>0.3.0</version>
<description>
ROS packages for the humanoid_robot_intelligence_control_system_demo (meta package)
</description>
<license>Apache 2.0</license>
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_bringup</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_demo</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_bringup</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_demo</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_bringup</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_demo</exec_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_bringup</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_demo</build_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_bringup</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_demo</build_export_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_bringup</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_demo</exec_depend>
<export></export>
</package>

12
humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/action_demo.h
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@ -27,12 +27,12 @@
#include <boost/thread.hpp>
#include <yaml-cpp/yaml.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"
#include "humanoid_robot_intelligence_control_system_action_module_msgs/IsRunning.h"
#include "humanoid_robot_intelligence_control_system_demo/op_demo.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/JointCtrlModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SetModule.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
class ActionDemo : public OPDemo {
public:
@ -109,6 +109,6 @@ protected:
int play_status_;
};
} /* namespace humanoid_robot_op */
} /* namespace humanoid_robot_intelligence_control_system_op */
#endif /* ACTION_DEMO_H_ */

14
humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_follower.h
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@ -29,12 +29,12 @@
#include <std_msgs/String.h>
#include <yaml-cpp/yaml.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"
#include "humanoid_robot_intelligence_control_system_ball_detector/CircleSetStamped.h"
#include "humanoid_robot_intelligence_control_system_walking_module_msgs/GetWalkingParam.h"
#include "humanoid_robot_intelligence_control_system_walking_module_msgs/WalkingParam.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/JointCtrlModule.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_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_;
humanoid_robot_walking_module_msgs::WalkingParam current_walking_param_;
humanoid_robot_intelligence_control_system_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 humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op
#endif /* BALL_FOLLOWER_H_ */

14
humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_tracker.h
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@ -28,12 +28,12 @@
#include <std_msgs/String.h>
#include <yaml-cpp/yaml.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"
#include "humanoid_robot_intelligence_control_system_ball_detector/CircleSetStamped.h"
#include "humanoid_robot_intelligence_control_system_walking_module_msgs/GetWalkingParam.h"
#include "humanoid_robot_intelligence_control_system_walking_module_msgs/WalkingParam.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/JointCtrlModule.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
// head tracking for looking the ball
class BallTracker {
@ -73,7 +73,7 @@ protected:
const bool DEBUG_PRINT;
void ballPositionCallback(
const humanoid_robot_ball_detector::CircleSetStamped::ConstPtr &msg);
const humanoid_robot_intelligence_control_system_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 humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op
#endif /* BALL_TRACKING_H_ */

8
humanoid_robot_demo/include/humanoid_robot_demo/button_test.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/button_test.h
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@ -24,10 +24,10 @@
#include <ros/ros.h>
#include <std_msgs/String.h>
#include "humanoid_robot_demo/op_demo.h"
#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
#include "humanoid_robot_intelligence_control_system_demo/op_demo.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SyncWriteItem.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
class ButtonTest : public OPDemo {
public:
@ -61,6 +61,6 @@ protected:
int rgb_led_count_;
};
} /* namespace humanoid_robot_op */
} /* namespace humanoid_robot_intelligence_control_system_op */
#endif /* BUTTON_TEST_H_ */

4
humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/face_tracker.h
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@ -29,7 +29,7 @@
#include <std_msgs/String.h>
#include <yaml-cpp/yaml.h>
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
// head tracking for looking the ball
class FaceTracker {
@ -89,6 +89,6 @@ protected:
int dismissed_count_;
};
} // namespace humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op
#endif /* FACE_TRACKING_H_ */

8
humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/mic_test.h
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@ -25,10 +25,10 @@
#include <signal.h>
#include <std_msgs/String.h>
#include "humanoid_robot_demo/op_demo.h"
#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
#include "humanoid_robot_intelligence_control_system_demo/op_demo.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SyncWriteItem.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
class MicTest : public OPDemo {
public:
@ -81,6 +81,6 @@ protected:
int test_status_;
};
} /* namespace humanoid_robot_op */
} /* namespace humanoid_robot_intelligence_control_system_op */
#endif /* MIC_TEST_H_ */

4
humanoid_robot_demo/include/humanoid_robot_demo/op_demo.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/op_demo.h
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@ -19,7 +19,7 @@
#ifndef OP_DEMO_H_
#define OP_DEMO_H_
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
class OPDemo {
public:
@ -44,6 +44,6 @@ protected:
bool enable_;
};
} /* namespace humanoid_robot_op */
} /* namespace humanoid_robot_intelligence_control_system_op */
#endif /* OP_DEMO_H_ */

22
humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/soccer_demo.h
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@ -26,17 +26,17 @@
#include <std_msgs/String.h>
#include <yaml-cpp/yaml.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 "humanoid_robot_intelligence_control_system_action_module_msgs/IsRunning.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/JointCtrlModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SetJointModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SyncWriteItem.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"
#include "humanoid_robot_intelligence_control_system_demo/ball_follower.h"
#include "humanoid_robot_intelligence_control_system_demo/ball_tracker.h"
#include "humanoid_robot_intelligence_control_system_demo/op_demo.h"
#include "humanoid_robot_intelligence_control_system_math/humanoid_robot_intelligence_control_system_linear_algebra.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_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 humanoid_robot_controller_msgs::JointCtrlModule &modules);
const humanoid_robot_intelligence_control_system_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 humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op
#endif // SOCCER_DEMO_H

12
humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h → humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/vision_demo.h
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@ -25,13 +25,13 @@
#include <std_msgs/Int32MultiArray.h>
#include <std_msgs/String.h>
#include "humanoid_robot_controller_msgs/SetModule.h"
#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SetModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SyncWriteItem.h"
#include "humanoid_robot_demo/face_tracker.h"
#include "humanoid_robot_demo/op_demo.h"
#include "humanoid_robot_intelligence_control_system_demo/face_tracker.h"
#include "humanoid_robot_intelligence_control_system_demo/op_demo.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
class VisionDemo : public OPDemo {
public:
@ -78,6 +78,6 @@ protected:
int tracking_status_;
};
} /* namespace humanoid_robot_op */
} /* namespace humanoid_robot_intelligence_control_system_op */
#endif /* VISION_DEMO_H_ */

28
humanoid_robot_intelligence_control_system_demo/launch/demo.launch Normal file
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@ -0,0 +1,28 @@
<?xml version="1.0"?>
<launch>
<!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system manager -->
<include file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
<!-- Camera and Ball detector -->
<include file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
<!-- face tracking -->
<!-- <include file="$(find humanoid_robot_intelligence_control_system_demo)/launch/face_detection_humanoid_robot_intelligence_control_system.launch" /> -->
<!-- camera setting tool -->
<include file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
<!-- web setting -->
<include file="$(find humanoid_robot_intelligence_control_system_web_setting_tool)/launch/web_setting_server.launch" />
<!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system demo -->
<node pkg="humanoid_robot_intelligence_control_system_demo" type="op_demo_node" name="humanoid_robot_intelligence_control_system_demo" output="screen">
<param name="grass_demo" type="bool" value="False" />
<param name="p_gain" value="0.45" />
<param name="d_gain" value="0.045" />
</node>
</launch>

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

23
humanoid_robot_intelligence_control_system_demo/list/action_script.yaml Normal file
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@ -0,0 +1,23 @@
# combination action page number and mp3 file path
action_and_sound:
4 : "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Thank you.mp3"
41: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Introduction.mp3"
24: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Wow.mp3"
23: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Yes go.mp3"
15: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Sit down.mp3"
1: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Stand up.mp3"
54: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Clap please.mp3"
27: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Oops.mp3"
38: "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Bye bye.mp3"
# 101 : "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Oops.mp3"
110 : ""
111 : "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Intro01.mp3"
115 : "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_demo/data/mp3/Intro02.mp3"
118 : "/home/humanoid_robot_intelligence_control_system/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_intelligence_control_system_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]

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

98
humanoid_robot_demo/package.xml → humanoid_robot_intelligence_control_system_demo/package.xml
View File

@ -1,6 +1,6 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_demo</name>
<name>humanoid_robot_intelligence_control_system_demo</name>
<version>0.3.2</version>
<description>
HUMANOID_ROBOT default demo
@ -17,18 +17,18 @@
<build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_walking_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_action_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">cmake_modules</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_math</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_math</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 1">boost</build_depend>
<build_depend condition="$ROS_VERSION == 1">eigen</build_depend>
<build_depend condition="$ROS_VERSION == 1">yaml-cpp</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_camera_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_web_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_camera_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_web_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 1">ros_madplay_player</build_depend>
<build_depend condition="$ROS_VERSION == 1">face_detection</build_depend>
@ -37,18 +37,18 @@
<build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">sensor_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">geometry_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_walking_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_action_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">cmake_modules</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_math</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_math</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">boost</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">eigen</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">yaml-cpp</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_camera_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_web_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_camera_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_web_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">ros_madplay_player</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">face_detection</build_export_depend>
@ -57,18 +57,18 @@
<exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">geometry_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_walking_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_action_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">cmake_modules</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_math</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_math</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">boost</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">eigen</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">yaml-cpp</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_camera_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_web_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_camera_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_web_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">ros_madplay_player</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">face_detection</exec_depend>
@ -80,18 +80,18 @@
<build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">sensor_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">geometry_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_walking_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_action_module_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">cmake_modules</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_math</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_math</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</build_depend>
<build_depend condition="$ROS_VERSION == 2">boost</build_depend>
<build_depend condition="$ROS_VERSION == 2">eigen</build_depend>
<build_depend condition="$ROS_VERSION == 2">yaml-cpp</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_camera_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_web_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_camera_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_web_setting_tool</build_depend>
<build_depend condition="$ROS_VERSION == 2">ros_madplay_player</build_depend>
<build_depend condition="$ROS_VERSION == 2">face_detection</build_depend>
@ -100,18 +100,18 @@
<build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">sensor_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">geometry_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_walking_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_action_module_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">cmake_modules</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_math</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_math</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">boost</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">eigen</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">yaml-cpp</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_camera_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_web_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_camera_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_web_setting_tool</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">ros_madplay_player</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">face_detection</build_export_depend>
@ -120,18 +120,18 @@
<exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">sensor_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">geometry_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_walking_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_action_module_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">cmake_modules</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_math</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_math</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">boost</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">eigen</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">yaml-cpp</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_camera_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_web_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_camera_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_web_setting_tool</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">ros_madplay_player</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">face_detection</exec_depend>

28
humanoid_robot_demo/src/action/action_demo.cpp → humanoid_robot_intelligence_control_system_demo/src/action/action_demo.cpp
View File

@ -16,9 +16,9 @@
/* Author: Kayman Jung */
#include "humanoid_robot_demo/action_demo.h"
#include "humanoid_robot_intelligence_control_system_demo/action_demo.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_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("humanoid_robot_demo") + "/list/action_script.yaml";
ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/list/action_script.yaml";
script_path_ = nh.param<std::string>("action_script", default_path);
std::string default_play_list = "default";
play_list_name_ =
nh.param<std::string>("action_script_play_list", default_play_list);
demo_command_sub_ = nh.subscribe("/humanoid_robot/demo_command", 1,
demo_command_sub_ = nh.subscribe("/humanoid_robot_intelligence_control_system/demo_command", 1,
&ActionDemo::demoCommandCallback, this);
parseActionScript(script_path_);
@ -150,20 +150,20 @@ void ActionDemo::callbackThread() {
// subscriber & publisher
module_control_pub_ =
nh.advertise<std_msgs::String>("/humanoid_robot/enable_ctrl_module", 0);
nh.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/enable_ctrl_module", 0);
motion_index_pub_ =
nh.advertise<std_msgs::Int32>("/humanoid_robot/action/page_num", 0);
nh.advertise<std_msgs::Int32>("/humanoid_robot_intelligence_control_system/action/page_num", 0);
play_sound_pub_ = nh.advertise<std_msgs::String>("/play_sound_file", 0);
buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1,
buttuon_sub_ = nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1,
&ActionDemo::buttonHandlerCallback, this);
is_running_client_ =
nh.serviceClient<humanoid_robot_action_module_msgs::IsRunning>(
"/humanoid_robot/action/is_running");
nh.serviceClient<humanoid_robot_intelligence_control_system_action_module_msgs::IsRunning>(
"/humanoid_robot_intelligence_control_system/action/is_running");
set_joint_module_client_ =
nh.serviceClient<humanoid_robot_controller_msgs::SetModule>(
"/humanoid_robot/set_present_ctrl_modules");
nh.serviceClient<humanoid_robot_intelligence_control_system_controller_msgs::SetModule>(
"/humanoid_robot_intelligence_control_system/set_present_ctrl_modules");
while (nh.ok()) {
ros::spinOnce();
@ -273,7 +273,7 @@ void ActionDemo::brakeAction() {
// check running of action
bool ActionDemo::isActionRunning() {
humanoid_robot_action_module_msgs::IsRunning is_running_srv;
humanoid_robot_intelligence_control_system_action_module_msgs::IsRunning is_running_srv;
if (is_running_client_.call(is_running_srv) == false) {
ROS_ERROR("Failed to get action status");
@ -321,7 +321,7 @@ void ActionDemo::setModuleToDemo(const std::string &module_name) {
}
void ActionDemo::callServiceSettingModule(const std::string &module_name) {
humanoid_robot_controller_msgs::SetModule set_module_srv;
humanoid_robot_intelligence_control_system_controller_msgs::SetModule set_module_srv;
set_module_srv.request.module_name = module_name;
if (set_joint_module_client_.call(set_module_srv) == false) {
@ -343,4 +343,4 @@ void ActionDemo::demoCommandCallback(const std_msgs::String::ConstPtr &msg) {
}
}
} /* namespace humanoid_robot_op */
} /* namespace humanoid_robot_intelligence_control_system_op */

48
humanoid_robot_demo/src/demo_node.cpp → humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp
View File

@ -19,11 +19,11 @@
#include <ros/ros.h>
#include <std_msgs/String.h>
#include "humanoid_robot_controller_msgs/SyncWriteItem.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_math/humanoid_robot_linear_algebra.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SyncWriteItem.h"
#include "humanoid_robot_intelligence_control_system_demo/action_demo.h"
#include "humanoid_robot_intelligence_control_system_demo/soccer_demo.h"
#include "humanoid_robot_intelligence_control_system_demo/vision_demo.h"
#include "humanoid_robot_intelligence_control_system_math/humanoid_robot_intelligence_control_system_linear_algebra.h"
enum Demo_Status {
Ready = 0,
@ -61,30 +61,30 @@ int main(int argc, char **argv) {
ros::init(argc, argv, "demo_node");
// create ros wrapper object
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_intelligence_control_system_op::OPDemo *current_demo = NULL;
humanoid_robot_intelligence_control_system_op::SoccerDemo *soccer_demo =
new humanoid_robot_intelligence_control_system_op::SoccerDemo();
humanoid_robot_intelligence_control_system_op::ActionDemo *action_demo =
new humanoid_robot_intelligence_control_system_op::ActionDemo();
humanoid_robot_intelligence_control_system_op::VisionDemo *vision_demo =
new humanoid_robot_intelligence_control_system_op::VisionDemo();
ros::NodeHandle nh(ros::this_node::getName());
init_pose_pub =
nh.advertise<std_msgs::String>("/humanoid_robot/base/ini_pose", 0);
nh.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/base/ini_pose", 0);
play_sound_pub = nh.advertise<std_msgs::String>("/play_sound_file", 0);
led_pub = nh.advertise<humanoid_robot_controller_msgs::SyncWriteItem>(
"/humanoid_robot/sync_write_item", 0);
led_pub = nh.advertise<humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem>(
"/humanoid_robot_intelligence_control_system/sync_write_item", 0);
dxl_torque_pub =
nh.advertise<std_msgs::String>("/humanoid_robot/dxl_torque", 0);
nh.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/dxl_torque", 0);
ros::Subscriber buttuon_sub =
nh.subscribe("/humanoid_robot/open_cr/button", 1, buttonHandlerCallback);
nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, buttonHandlerCallback);
ros::Subscriber mode_command_sub =
nh.subscribe("/humanoid_robot/mode_command", 1, demoModeCommandCallback);
nh.subscribe("/humanoid_robot_intelligence_control_system/mode_command", 1, demoModeCommandCallback);
default_mp3_path =
ros::package::getPath("humanoid_robot_demo") + "/data/mp3/";
ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/data/mp3/";
ros::start();
@ -92,7 +92,7 @@ int main(int argc, char **argv) {
ros::Rate loop_rate(SPIN_RATE);
// wait for starting of manager
std::string manager_name = "/humanoid_robot_manager";
std::string manager_name = "/humanoid_robot_intelligence_control_system_manager";
while (ros::ok()) {
ros::Duration(1.0).sleep();
@ -100,7 +100,7 @@ int main(int argc, char **argv) {
break;
ROS_INFO_COND(DEBUG_PRINT, "Succeed to connect");
}
ROS_WARN("Waiting for humanoid_robot manager");
ROS_WARN("Waiting for humanoid_robot_intelligence_control_system manager");
}
// init procedure
@ -190,7 +190,7 @@ 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 humanoid_robot_manager
// it's using in humanoid_robot_intelligence_control_system_manager
// torque on and going to init pose
}
}
@ -272,7 +272,7 @@ void playSound(const std::string &path) {
}
void setLED(int led) {
humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg;
humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg;
syncwrite_msg.item_name = "LED";
syncwrite_msg.joint_name.push_back("open-cr");
syncwrite_msg.value.push_back(led);
@ -290,7 +290,7 @@ bool checkManagerRunning(std::string &manager_name) {
return true;
}
ROS_ERROR("Can't find humanoid_robot_manager");
ROS_ERROR("Can't find humanoid_robot_intelligence_control_system_manager");
return false;
}

20
humanoid_robot_demo/src/soccer/ball_follower.cpp → humanoid_robot_intelligence_control_system_demo/src/soccer/ball_follower.cpp
View File

@ -16,9 +16,9 @@
/* Author: Kayman Jung */
#include "humanoid_robot_demo/ball_follower.h"
#include "humanoid_robot_intelligence_control_system_demo/ball_follower.h"
namespace humanoid_robot_op {
namespace humanoid_robot_intelligence_control_system_op {
BallFollower::BallFollower()
: nh_(ros::this_node::getName()), FOV_WIDTH(35.2 * M_PI / 180),
@ -34,17 +34,17 @@ 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("/humanoid_robot/goal_joint_states", 10,
nh_.subscribe("/humanoid_robot_intelligence_control_system/goal_joint_states", 10,
&BallFollower::currentJointStatesCallback, this);
set_walking_command_pub_ =
nh_.advertise<std_msgs::String>("/humanoid_robot/walking/command", 0);
nh_.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/walking/command", 0);
set_walking_param_pub_ =
nh_.advertise<humanoid_robot_walking_module_msgs::WalkingParam>(
"/humanoid_robot/walking/set_params", 0);
nh_.advertise<humanoid_robot_intelligence_control_system_walking_module_msgs::WalkingParam>(
"/humanoid_robot_intelligence_control_system/walking/set_params", 0);
get_walking_param_client_ =
nh_.serviceClient<humanoid_robot_walking_module_msgs::GetWalkingParam>(
"/humanoid_robot/walking/get_params");
nh_.serviceClient<humanoid_robot_intelligence_control_system_walking_module_msgs::GetWalkingParam>(
"/humanoid_robot_intelligence_control_system/walking/get_params");
prev_time_ = ros::Time::now();
}
@ -306,7 +306,7 @@ void BallFollower::setWalkingParam(double x_move, double y_move,
}
bool BallFollower::getWalkingParam() {
humanoid_robot_walking_module_msgs::GetWalkingParam walking_param_msg;
humanoid_robot_intelligence_control_system_walking_module_msgs::GetWalkingParam walking_param_msg;
if (get_walking_param_client_.call(walking_param_msg)) {
current_walking_param_ = walking_param_msg.response.parameters;
@ -322,4 +322,4 @@ bool BallFollower::getWalkingParam() {
}
}
} // namespace humanoid_robot_op
} // namespace humanoid_robot_intelligence_control_system_op

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