diff --git a/.travis.yml b/.travis.yml index 2d3459c..01412d7 100644 --- a/.travis.yml +++ b/.travis.yml @@ -18,7 +18,7 @@ notifications: - ronaldsonbellande@gmail.com env: matrix: - - ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".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 diff --git a/README.md b/README.md index 619e927..9066ff0 100644 --- a/README.md +++ b/README.md @@ -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) +[![GitHub stars](https://img.shields.io/github/stars/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/stargazers) +[![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) +[![GitHub watchers](https://img.shields.io/github/watchers/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/watchers) -[![GitHub issues](https://img.shields.io/github/issues/Robotics-Sensors/humanoid_robot_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_demos/issues) -[![GitHub pull requests](https://img.shields.io/github/issues-pr/Robotics-Sensors/humanoid_robot_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_demos/pulls) -[![GitHub license](https://img.shields.io/github/license/Robotics-Sensors/humanoid_robot_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE) +[![GitHub issues](https://img.shields.io/github/issues/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/issues) +[![GitHub pull requests](https://img.shields.io/github/issues-pr/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/pulls) +[![GitHub license](https://img.shields.io/github/license/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE) -[![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) -[![Visitor & Github Clones](https://img.shields.io/badge/dynamic/json?color=2e8b57&label=Visitor%20%26%20GitHub%20Clones&query=$.count&url=https://api.github.com/repos/Robotics-Sensors/humanoid_robot_demos/traffic)](https://github.com/Robotics-Sensors/humanoid_robot_demos) +[![GitHub last commit](https://img.shields.io/github/last-commit/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/commits) +[![Visitor & Github Clones](https://img.shields.io/badge/dynamic/json?color=2e8b57&label=Visitor%20%26%20GitHub%20Clones&query=$.count&url=https://api.github.com/repos/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/traffic)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos) -------------------------------------------------------------------------------------------------------- # 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. diff --git a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml b/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml deleted file mode 100644 index 809f1f3..0000000 --- a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/package.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - humanoid_robot_demo - 0.3.0 - - ROS packages for the humanoid_robot_demo (meta package) - - Apache 2.0 - Ronaldson Bellande - - catkin - - humanoid_robot_ball_detector - humanoid_robot_bringup - humanoid_robot_demo - - humanoid_robot_ball_detector - humanoid_robot_bringup - humanoid_robot_demo - - humanoid_robot_ball_detector - humanoid_robot_bringup - humanoid_robot_demo - - - ament_cmake - - humanoid_robot_ball_detector - humanoid_robot_bringup - humanoid_robot_demo - - humanoid_robot_ball_detector - humanoid_robot_bringup - humanoid_robot_demo - - humanoid_robot_ball_detector - humanoid_robot_bringup - humanoid_robot_demo - - - - diff --git a/humanoid_robot_demo/launch/demo.launch b/humanoid_robot_demo/launch/demo.launch deleted file mode 100644 index c4cb90a..0000000 --- a/humanoid_robot_demo/launch/demo.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/humanoid_robot_demo/launch/self_test.launch b/humanoid_robot_demo/launch/self_test.launch deleted file mode 100644 index b160e4a..0000000 --- a/humanoid_robot_demo/launch/self_test.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/humanoid_robot_demo/list/action_script.yaml b/humanoid_robot_demo/list/action_script.yaml deleted file mode 100644 index ab277f2..0000000 --- a/humanoid_robot_demo/list/action_script.yaml +++ /dev/null @@ -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] diff --git a/humanoid_robot_demo/list/action_script_bk.yaml b/humanoid_robot_demo/list/action_script_bk.yaml deleted file mode 100644 index c381065..0000000 --- a/humanoid_robot_demo/list/action_script_bk.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# combination action page number and mp3 file path -action_and_sound: - 4 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Thank you.mp3" - 41: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Introduction.mp3" - 24: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Wow.mp3" - 23: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Yes go.mp3" - 15: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Sit down.mp3" - 1: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Stand up.mp3" - 54: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Clap please.mp3" - 27: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Oops.mp3" - 38: "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Bye bye.mp3" - 101 : "/home/humanoid_robot/catkin_ws/src/ROBOTIS-HUMANOID_ROBOT/ROBOTIS-HUMANOID_ROBOT-Demo/humanoid_robot_demo/data/mp3/Oops.mp3" - -# play list -default: [4, 41, 24, 23, 15, 1, 54, 27, 38] - -# example of play list -certificatino: [101] diff --git a/humanoid_robot_ball_detector/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_ball_detector/CHANGELOG.rst similarity index 88% rename from humanoid_robot_ball_detector/CHANGELOG.rst rename to humanoid_robot_intelligence_control_system_ball_detector/CHANGELOG.rst index 6d12ed9..538e59c 100644 --- a/humanoid_robot_ball_detector/CHANGELOG.rst +++ b/humanoid_robot_intelligence_control_system_ball_detector/CHANGELOG.rst @@ -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 diff --git a/humanoid_robot_ball_detector/CMakeLists.txt b/humanoid_robot_intelligence_control_system_ball_detector/CMakeLists.txt similarity index 97% rename from humanoid_robot_ball_detector/CMakeLists.txt rename to humanoid_robot_intelligence_control_system_ball_detector/CMakeLists.txt index 0a54aa1..40dad1a 100644 --- a/humanoid_robot_ball_detector/CMakeLists.txt +++ b/humanoid_robot_intelligence_control_system_ball_detector/CMakeLists.txt @@ -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) diff --git a/humanoid_robot_ball_detector/cfg/DetectorParams.cfg b/humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParams.cfg similarity index 97% rename from humanoid_robot_ball_detector/cfg/DetectorParams.cfg rename to humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParams.cfg index 203fd0c..abc5bff 100755 --- a/humanoid_robot_ball_detector/cfg/DetectorParams.cfg +++ b/humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParams.cfg @@ -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 * diff --git a/humanoid_robot_ball_detector/cfg/DetectorParamsBlue.cfg b/humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsBlue.cfg similarity index 97% rename from humanoid_robot_ball_detector/cfg/DetectorParamsBlue.cfg rename to humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsBlue.cfg index 2884c7d..9ef2700 100755 --- a/humanoid_robot_ball_detector/cfg/DetectorParamsBlue.cfg +++ b/humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsBlue.cfg @@ -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 * diff --git a/humanoid_robot_ball_detector/cfg/DetectorParamsRed.cfg b/humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsRed.cfg similarity index 97% rename from humanoid_robot_ball_detector/cfg/DetectorParamsRed.cfg rename to humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsRed.cfg index 5e78e85..c0eed94 100755 --- a/humanoid_robot_ball_detector/cfg/DetectorParamsRed.cfg +++ b/humanoid_robot_intelligence_control_system_ball_detector/cfg/DetectorParamsRed.cfg @@ -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 * diff --git a/humanoid_robot_ball_detector/config/ball_detector_params.yaml b/humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params.yaml similarity index 100% rename from humanoid_robot_ball_detector/config/ball_detector_params.yaml rename to humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params.yaml diff --git a/humanoid_robot_ball_detector/config/ball_detector_params_default.yaml b/humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params_default.yaml similarity index 100% rename from humanoid_robot_ball_detector/config/ball_detector_params_default.yaml rename to humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params_default.yaml diff --git a/humanoid_robot_ball_detector/config/ball_detector_params_op.yaml b/humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params_op.yaml similarity index 100% rename from humanoid_robot_ball_detector/config/ball_detector_params_op.yaml rename to humanoid_robot_intelligence_control_system_ball_detector/config/ball_detector_params_op.yaml diff --git a/humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h b/humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector.h similarity index 75% rename from humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h rename to humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector.h index fd33a59..91a1bf6 100644 --- a/humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector.h +++ b/humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector.h @@ -36,14 +36,14 @@ #include #include -#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 + dynamic_reconfigure::Server 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_ diff --git a/humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector_config.h b/humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector_config.h similarity index 96% rename from humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector_config.h rename to humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector_config.h index 9a80474..a7e7a3a 100644 --- a/humanoid_robot_ball_detector/include/humanoid_robot_ball_detector/ball_detector_config.h +++ b/humanoid_robot_intelligence_control_system_ball_detector/include/humanoid_robot_intelligence_control_system_ball_detector/ball_detector_config.h @@ -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_ diff --git a/humanoid_robot_ball_detector/launch/ball_detector.launch b/humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector.launch similarity index 56% rename from humanoid_robot_ball_detector/launch/ball_detector.launch rename to humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector.launch index a984f30..564bebb 100644 --- a/humanoid_robot_ball_detector/launch/ball_detector.launch +++ b/humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector.launch @@ -1,9 +1,9 @@ - + - + diff --git a/humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch b/humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_usb_cam.launch similarity index 92% rename from humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch rename to humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_usb_cam.launch index 3d3d285..2d690b8 100644 --- a/humanoid_robot_ball_detector/launch/ball_detector_from_usb_cam.launch +++ b/humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_usb_cam.launch @@ -23,5 +23,5 @@ - + diff --git a/humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch b/humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_uvc.launch similarity index 90% rename from humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch rename to humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_uvc.launch index 87c5654..a28ee87 100644 --- a/humanoid_robot_ball_detector/launch/ball_detector_from_uvc.launch +++ b/humanoid_robot_intelligence_control_system_ball_detector/launch/ball_detector_from_uvc.launch @@ -28,5 +28,5 @@ - + diff --git a/humanoid_robot_ball_detector/msg/BallDetectorParams.msg b/humanoid_robot_intelligence_control_system_ball_detector/msg/BallDetectorParams.msg similarity index 100% rename from humanoid_robot_ball_detector/msg/BallDetectorParams.msg rename to humanoid_robot_intelligence_control_system_ball_detector/msg/BallDetectorParams.msg diff --git a/humanoid_robot_ball_detector/msg/CircleSetStamped.msg b/humanoid_robot_intelligence_control_system_ball_detector/msg/CircleSetStamped.msg similarity index 100% rename from humanoid_robot_ball_detector/msg/CircleSetStamped.msg rename to humanoid_robot_intelligence_control_system_ball_detector/msg/CircleSetStamped.msg diff --git a/humanoid_robot_ball_detector/package.xml b/humanoid_robot_intelligence_control_system_ball_detector/package.xml similarity index 99% rename from humanoid_robot_ball_detector/package.xml rename to humanoid_robot_intelligence_control_system_ball_detector/package.xml index 19f9714..98502ed 100644 --- a/humanoid_robot_ball_detector/package.xml +++ b/humanoid_robot_intelligence_control_system_ball_detector/package.xml @@ -1,6 +1,6 @@ - humanoid_robot_ball_detector + humanoid_robot_intelligence_control_system_ball_detector 0.3.2 This package implements a circle-like shape detector of the input image diff --git a/humanoid_robot_ball_detector/rviz/ball_detector.rviz b/humanoid_robot_intelligence_control_system_ball_detector/rviz/ball_detector.rviz similarity index 100% rename from humanoid_robot_ball_detector/rviz/ball_detector.rviz rename to humanoid_robot_intelligence_control_system_ball_detector/rviz/ball_detector.rviz diff --git a/humanoid_robot_ball_detector/src/ball_detector.cpp b/humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector.cpp similarity index 96% rename from humanoid_robot_ball_detector/src/ball_detector.cpp rename to humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector.cpp index 3c975cc..2916b71 100644 --- a/humanoid_robot_ball_detector/src/ball_detector.cpp +++ b/humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector.cpp @@ -18,9 +18,9 @@ #include -#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("circle_set", 100); + nh_.advertise("circle_set", 100); camera_info_pub_ = nh_.advertise("camera_info", 100); // sets subscribers @@ -106,7 +107,8 @@ BallDetector::BallDetector() // web setting param_pub_ = - nh_.advertise("current_params", 1); + nh_.advertise("current_params", 1); param_command_sub_ = nh_.subscribe("param_command", 1, &BallDetector::paramCommandCallback, this); set_param_client_ = @@ -243,7 +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 diff --git a/humanoid_robot_ball_detector/src/ball_detector_node.cpp b/humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector_node.cpp similarity index 89% rename from humanoid_robot_ball_detector/src/ball_detector_node.cpp rename to humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector_node.cpp index a34960f..8cecc3b 100644 --- a/humanoid_robot_ball_detector/src/ball_detector_node.cpp +++ b/humanoid_robot_intelligence_control_system_ball_detector/src/ball_detector_node.cpp @@ -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); diff --git a/humanoid_robot_ball_detector/srv/GetParameters.srv b/humanoid_robot_intelligence_control_system_ball_detector/srv/GetParameters.srv similarity index 100% rename from humanoid_robot_ball_detector/srv/GetParameters.srv rename to humanoid_robot_intelligence_control_system_ball_detector/srv/GetParameters.srv diff --git a/humanoid_robot_ball_detector/srv/SetParameters.srv b/humanoid_robot_intelligence_control_system_ball_detector/srv/SetParameters.srv similarity index 100% rename from humanoid_robot_ball_detector/srv/SetParameters.srv rename to humanoid_robot_intelligence_control_system_ball_detector/srv/SetParameters.srv diff --git a/humanoid_robot_bringup/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst similarity index 84% rename from humanoid_robot_bringup/CHANGELOG.rst rename to humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst index 1970d3a..878e980 100644 --- a/humanoid_robot_bringup/CHANGELOG.rst +++ b/humanoid_robot_intelligence_control_system_bringup/CHANGELOG.rst @@ -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 diff --git a/humanoid_robot_bringup/CMakeLists.txt b/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt similarity index 83% rename from humanoid_robot_bringup/CMakeLists.txt rename to humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt index da5f24e..b0f7a88 100644 --- a/humanoid_robot_bringup/CMakeLists.txt +++ b/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt @@ -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) diff --git a/humanoid_robot_bringup/launch/humanoid_robot_bringup.launch b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch similarity index 79% rename from humanoid_robot_bringup/launch/humanoid_robot_bringup.launch rename to humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch index 6d01824..d9f4f02 100644 --- a/humanoid_robot_bringup/launch/humanoid_robot_bringup.launch +++ b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch @@ -1,7 +1,7 @@ - + diff --git a/humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch similarity index 54% rename from humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch rename to humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch index 16d122a..ce2a352 100644 --- a/humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch +++ b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch @@ -1,18 +1,18 @@ - + - [/humanoid_robot/present_joint_states] + [/humanoid_robot_intelligence_control_system/present_joint_states] - + - + diff --git a/humanoid_robot_bringup/package.xml b/humanoid_robot_intelligence_control_system_bringup/package.xml similarity index 68% rename from humanoid_robot_bringup/package.xml rename to humanoid_robot_intelligence_control_system_bringup/package.xml index 20d2b13..2d44949 100644 --- a/humanoid_robot_bringup/package.xml +++ b/humanoid_robot_intelligence_control_system_bringup/package.xml @@ -1,6 +1,6 @@ - humanoid_robot_bringup + humanoid_robot_intelligence_control_system_bringup 0.3.2 This package is a demo for first time users. @@ -12,22 +12,22 @@ catkin - humanoid_robot_manager - humanoid_robot_description + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_description usb_cam joint_state_publisher robot_state_publisher rviz - humanoid_robot_manager - humanoid_robot_description + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_description usb_cam joint_state_publisher robot_state_publisher rviz - humanoid_robot_manager - humanoid_robot_description + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_description usb_cam joint_state_publisher robot_state_publisher @@ -36,22 +36,22 @@ ament_cmake - humanoid_robot_manager - humanoid_robot_description + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_description usb_cam joint_state_publisher robot_state_publisher rviz - humanoid_robot_manager - humanoid_robot_description + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_description usb_cam joint_state_publisher robot_state_publisher rviz - humanoid_robot_manager - humanoid_robot_description + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_description usb_cam joint_state_publisher robot_state_publisher diff --git a/humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz b/humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz similarity index 99% rename from humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz rename to humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz index ef223c3..3ba310a 100644 --- a/humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz +++ b/humanoid_robot_intelligence_control_system_bringup/rviz/humanoid_robot_bringup.rviz @@ -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 diff --git a/humanoid_robot_demo/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_demo/CHANGELOG.rst similarity index 89% rename from humanoid_robot_demo/CHANGELOG.rst rename to humanoid_robot_intelligence_control_system_demo/CHANGELOG.rst index 7bbe748..39a2f89 100644 --- a/humanoid_robot_demo/CHANGELOG.rst +++ b/humanoid_robot_intelligence_control_system_demo/CHANGELOG.rst @@ -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 diff --git a/humanoid_robot_demo/CMakeLists.txt b/humanoid_robot_intelligence_control_system_demo/CMakeLists.txt similarity index 78% rename from humanoid_robot_demo/CMakeLists.txt rename to humanoid_robot_intelligence_control_system_demo/CMakeLists.txt index 049d16a..5d22368 100644 --- a/humanoid_robot_demo/CMakeLists.txt +++ b/humanoid_robot_intelligence_control_system_demo/CMakeLists.txt @@ -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() diff --git a/humanoid_robot_demo/data/mp3/Autonomous soccer mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Autonomous soccer mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Autonomous soccer mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Autonomous soccer mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/Bye bye.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Bye bye.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Bye bye.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Bye bye.mp3 diff --git a/humanoid_robot_demo/data/mp3/Clap please.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Clap please.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Clap please.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Clap please.mp3 diff --git a/humanoid_robot_demo/data/mp3/Demonstration ready mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Demonstration ready mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Demonstration ready mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Demonstration ready mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/Headstand.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Headstand.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Headstand.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Headstand.mp3 diff --git a/humanoid_robot_demo/data/mp3/Interactive motion mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Interactive motion mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Interactive motion mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Interactive motion mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/Intro01.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Intro01.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Intro01.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Intro01.mp3 diff --git a/humanoid_robot_demo/data/mp3/Intro02.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Intro02.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Intro02.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Intro02.mp3 diff --git a/humanoid_robot_demo/data/mp3/Intro03.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Intro03.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Intro03.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Intro03.mp3 diff --git a/humanoid_robot_demo/data/mp3/Introduction.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Introduction.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Introduction.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Introduction.mp3 diff --git a/humanoid_robot_demo/data/mp3/Left kick.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Left kick.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Left kick.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Left kick.mp3 diff --git a/humanoid_robot_demo/data/mp3/No.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/No.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/No.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/No.mp3 diff --git a/humanoid_robot_demo/data/mp3/Oops.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Oops.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Oops.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Oops.mp3 diff --git a/humanoid_robot_demo/data/mp3/Right kick.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Right kick.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Right kick.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Right kick.mp3 diff --git a/humanoid_robot_demo/data/mp3/Sensor calibration complete.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Sensor calibration complete.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Sensor calibration complete.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Sensor calibration complete.mp3 diff --git a/humanoid_robot_demo/data/mp3/Sensor calibration fail.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Sensor calibration fail.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Sensor calibration fail.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Sensor calibration fail.mp3 diff --git a/humanoid_robot_demo/data/mp3/Shoot.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Shoot.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Shoot.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Shoot.mp3 diff --git a/humanoid_robot_demo/data/mp3/Sit down.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Sit down.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Sit down.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Sit down.mp3 diff --git a/humanoid_robot_demo/data/mp3/Stand up.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Stand up.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Stand up.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Stand up.mp3 diff --git a/humanoid_robot_demo/data/mp3/Start motion demonstration.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Start motion demonstration.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Start motion demonstration.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Start motion demonstration.mp3 diff --git a/humanoid_robot_demo/data/mp3/Start soccer demonstration.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Start soccer demonstration.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Start soccer demonstration.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Start soccer demonstration.mp3 diff --git a/humanoid_robot_demo/data/mp3/Start vision processing demonstration.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Start vision processing demonstration.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Start vision processing demonstration.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Start vision processing demonstration.mp3 diff --git a/humanoid_robot_demo/data/mp3/System shutdown.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/System shutdown.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/System shutdown.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/System shutdown.mp3 diff --git a/humanoid_robot_demo/data/mp3/Thank you.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Thank you.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Thank you.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Thank you.mp3 diff --git a/humanoid_robot_demo/data/mp3/Vision processing mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Vision processing mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Vision processing mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Vision processing mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/Wow.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Wow.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Wow.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Wow.mp3 diff --git a/humanoid_robot_demo/data/mp3/Yes go.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Yes go.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Yes go.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Yes go.mp3 diff --git a/humanoid_robot_demo/data/mp3/Yes.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/Yes.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/Yes.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/Yes.mp3 diff --git a/humanoid_robot_demo/data/mp3/intro_test.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/intro_test.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/intro_test.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/intro_test.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Announce mic test.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Announce mic test.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Announce mic test.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Announce mic test.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Button test mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Button test mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Button test mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Button test mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Mic test mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Mic test mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Mic test mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Mic test mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Mode button long pressed.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Mode button long pressed.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Mode button long pressed.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Mode button long pressed.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Mode button pressed.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Mode button pressed.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Mode button pressed.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Mode button pressed.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Self test ready mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Self test ready mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Self test ready mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Self test ready mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Start button long pressed.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start button long pressed.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Start button long pressed.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start button long pressed.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Start button pressed.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start button pressed.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Start button pressed.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start button pressed.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Start button test mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start button test mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Start button test mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start button test mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Start mic test mode.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start mic test mode.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Start mic test mode.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start mic test mode.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Start playing.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start playing.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Start playing.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start playing.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/Start recording.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start recording.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/Start recording.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/Start recording.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/User button long pressed.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/User button long pressed.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/User button long pressed.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/User button long pressed.mp3 diff --git a/humanoid_robot_demo/data/mp3/test/User button pressed.mp3 b/humanoid_robot_intelligence_control_system_demo/data/mp3/test/User button pressed.mp3 similarity index 100% rename from humanoid_robot_demo/data/mp3/test/User button pressed.mp3 rename to humanoid_robot_intelligence_control_system_demo/data/mp3/test/User button pressed.mp3 diff --git a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst similarity index 80% rename from humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst rename to humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst index eacc32d..e3fba16 100644 --- a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst +++ b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst @@ -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 diff --git a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt similarity index 60% rename from humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt rename to humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt index b5a0767..96c17dd 100644 --- a/humanoid_robot_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt +++ b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt @@ -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() diff --git a/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/package.xml b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/package.xml new file mode 100644 index 0000000..64825a0 --- /dev/null +++ b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/package.xml @@ -0,0 +1,42 @@ + + + humanoid_robot_intelligence_control_system_demo + 0.3.0 + + ROS packages for the humanoid_robot_intelligence_control_system_demo (meta package) + + Apache 2.0 + Ronaldson Bellande + + catkin + + humanoid_robot_intelligence_control_system_ball_detector + humanoid_robot_intelligence_control_system_bringup + humanoid_robot_intelligence_control_system_demo + + humanoid_robot_intelligence_control_system_ball_detector + humanoid_robot_intelligence_control_system_bringup + humanoid_robot_intelligence_control_system_demo + + humanoid_robot_intelligence_control_system_ball_detector + humanoid_robot_intelligence_control_system_bringup + humanoid_robot_intelligence_control_system_demo + + + ament_cmake + + humanoid_robot_intelligence_control_system_ball_detector + humanoid_robot_intelligence_control_system_bringup + humanoid_robot_intelligence_control_system_demo + + humanoid_robot_intelligence_control_system_ball_detector + humanoid_robot_intelligence_control_system_bringup + humanoid_robot_intelligence_control_system_demo + + humanoid_robot_intelligence_control_system_ball_detector + humanoid_robot_intelligence_control_system_bringup + humanoid_robot_intelligence_control_system_demo + + + + diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/action_demo.h similarity index 86% rename from humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/action_demo.h index 1b1b951..b8ee165 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/action_demo.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/action_demo.h @@ -27,12 +27,12 @@ #include #include -#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_ */ diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_follower.h similarity index 86% rename from humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_follower.h index 7b6dc45..cb9ed78 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/ball_follower.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_follower.h @@ -29,12 +29,12 @@ #include #include -#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_ */ diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_tracker.h similarity index 82% rename from humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_tracker.h index 55b8447..9ccceeb 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/ball_tracker.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/ball_tracker.h @@ -28,12 +28,12 @@ #include #include -#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_ */ diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/button_test.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/button_test.h similarity index 84% rename from humanoid_robot_demo/include/humanoid_robot_demo/button_test.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/button_test.h index 24d6d72..ead7c2b 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/button_test.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/button_test.h @@ -24,10 +24,10 @@ #include #include -#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_ */ diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/face_tracker.h similarity index 95% rename from humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/face_tracker.h index 10acdbd..6c2dbbc 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/face_tracker.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/face_tracker.h @@ -29,7 +29,7 @@ #include #include -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_ */ diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/mic_test.h similarity index 87% rename from humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/mic_test.h index fa921ef..0477d8d 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/mic_test.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/mic_test.h @@ -25,10 +25,10 @@ #include #include -#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_ */ diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/op_demo.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/op_demo.h similarity index 90% rename from humanoid_robot_demo/include/humanoid_robot_demo/op_demo.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/op_demo.h index 420304b..5872213 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/op_demo.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/op_demo.h @@ -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_ */ diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/soccer_demo.h similarity index 78% rename from humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/soccer_demo.h index 042517c..4af5a5a 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/soccer_demo.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/soccer_demo.h @@ -26,17 +26,17 @@ #include #include -#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 diff --git a/humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/vision_demo.h similarity index 82% rename from humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h rename to humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/vision_demo.h index d304920..a42de50 100644 --- a/humanoid_robot_demo/include/humanoid_robot_demo/vision_demo.h +++ b/humanoid_robot_intelligence_control_system_demo/include/humanoid_robot_intelligence_control_system_demo/vision_demo.h @@ -25,13 +25,13 @@ #include #include -#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_ */ diff --git a/humanoid_robot_intelligence_control_system_demo/launch/demo.launch b/humanoid_robot_intelligence_control_system_demo/launch/demo.launch new file mode 100644 index 0000000..bd235f4 --- /dev/null +++ b/humanoid_robot_intelligence_control_system_demo/launch/demo.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/humanoid_robot_demo/launch/face_detection_humanoid_robot.launch b/humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch similarity index 100% rename from humanoid_robot_demo/launch/face_detection_humanoid_robot.launch rename to humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch diff --git a/humanoid_robot_intelligence_control_system_demo/launch/self_test.launch b/humanoid_robot_intelligence_control_system_demo/launch/self_test.launch new file mode 100644 index 0000000..38c2958 --- /dev/null +++ b/humanoid_robot_intelligence_control_system_demo/launch/self_test.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/humanoid_robot_intelligence_control_system_demo/list/action_script.yaml b/humanoid_robot_intelligence_control_system_demo/list/action_script.yaml new file mode 100644 index 0000000..65c9e58 --- /dev/null +++ b/humanoid_robot_intelligence_control_system_demo/list/action_script.yaml @@ -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] diff --git a/humanoid_robot_intelligence_control_system_demo/list/action_script_bk.yaml b/humanoid_robot_intelligence_control_system_demo/list/action_script_bk.yaml new file mode 100644 index 0000000..67c1389 --- /dev/null +++ b/humanoid_robot_intelligence_control_system_demo/list/action_script_bk.yaml @@ -0,0 +1,18 @@ +# combination action page number and mp3 file path +action_and_sound: + 4 : "/home/humanoid_robot_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] diff --git a/humanoid_robot_demo/package.xml b/humanoid_robot_intelligence_control_system_demo/package.xml similarity index 56% rename from humanoid_robot_demo/package.xml rename to humanoid_robot_intelligence_control_system_demo/package.xml index 1accda9..b55e2d3 100644 --- a/humanoid_robot_demo/package.xml +++ b/humanoid_robot_intelligence_control_system_demo/package.xml @@ -1,6 +1,6 @@ - humanoid_robot_demo + humanoid_robot_intelligence_control_system_demo 0.3.2 HUMANOID_ROBOT default demo @@ -17,18 +17,18 @@ 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 boost eigen yaml-cpp - humanoid_robot_manager - humanoid_robot_camera_setting_tool - humanoid_robot_web_setting_tool + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_camera_setting_tool + humanoid_robot_intelligence_control_system_web_setting_tool ros_madplay_player face_detection @@ -37,18 +37,18 @@ 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 boost eigen yaml-cpp - humanoid_robot_manager - humanoid_robot_camera_setting_tool - humanoid_robot_web_setting_tool + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_camera_setting_tool + humanoid_robot_intelligence_control_system_web_setting_tool ros_madplay_player face_detection @@ -57,18 +57,18 @@ 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 boost eigen yaml-cpp - humanoid_robot_manager - humanoid_robot_camera_setting_tool - humanoid_robot_web_setting_tool + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_camera_setting_tool + humanoid_robot_intelligence_control_system_web_setting_tool ros_madplay_player face_detection @@ -80,18 +80,18 @@ 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 boost eigen yaml-cpp - humanoid_robot_manager - humanoid_robot_camera_setting_tool - humanoid_robot_web_setting_tool + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_camera_setting_tool + humanoid_robot_intelligence_control_system_web_setting_tool ros_madplay_player face_detection @@ -100,18 +100,18 @@ 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 boost eigen yaml-cpp - humanoid_robot_manager - humanoid_robot_camera_setting_tool - humanoid_robot_web_setting_tool + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_camera_setting_tool + humanoid_robot_intelligence_control_system_web_setting_tool ros_madplay_player face_detection @@ -120,18 +120,18 @@ 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 boost eigen yaml-cpp - humanoid_robot_manager - humanoid_robot_camera_setting_tool - humanoid_robot_web_setting_tool + humanoid_robot_intelligence_control_system_manager + humanoid_robot_intelligence_control_system_camera_setting_tool + humanoid_robot_intelligence_control_system_web_setting_tool ros_madplay_player face_detection diff --git a/humanoid_robot_demo/src/action/action_demo.cpp b/humanoid_robot_intelligence_control_system_demo/src/action/action_demo.cpp similarity index 85% rename from humanoid_robot_demo/src/action/action_demo.cpp rename to humanoid_robot_intelligence_control_system_demo/src/action/action_demo.cpp index f0f8f18..dcdec9f 100644 --- a/humanoid_robot_demo/src/action/action_demo.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/action/action_demo.cpp @@ -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("action_script", default_path); std::string default_play_list = "default"; play_list_name_ = nh.param("action_script_play_list", default_play_list); - demo_command_sub_ = nh.subscribe("/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("/humanoid_robot/enable_ctrl_module", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/enable_ctrl_module", 0); motion_index_pub_ = - nh.advertise("/humanoid_robot/action/page_num", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/action/page_num", 0); play_sound_pub_ = nh.advertise("/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/is_running"); + nh.serviceClient( + "/humanoid_robot_intelligence_control_system/action/is_running"); set_joint_module_client_ = - nh.serviceClient( - "/humanoid_robot/set_present_ctrl_modules"); + nh.serviceClient( + "/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 */ diff --git a/humanoid_robot_demo/src/demo_node.cpp b/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp similarity index 79% rename from humanoid_robot_demo/src/demo_node.cpp rename to humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp index 65b6ed5..7df1268 100644 --- a/humanoid_robot_demo/src/demo_node.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp @@ -19,11 +19,11 @@ #include #include -#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("/humanoid_robot/base/ini_pose", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/base/ini_pose", 0); play_sound_pub = nh.advertise("/play_sound_file", 0); - led_pub = nh.advertise( - "/humanoid_robot/sync_write_item", 0); + led_pub = nh.advertise( + "/humanoid_robot_intelligence_control_system/sync_write_item", 0); dxl_torque_pub = - nh.advertise("/humanoid_robot/dxl_torque", 0); + nh.advertise("/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; } diff --git a/humanoid_robot_demo/src/soccer/ball_follower.cpp b/humanoid_robot_intelligence_control_system_demo/src/soccer/ball_follower.cpp similarity index 92% rename from humanoid_robot_demo/src/soccer/ball_follower.cpp rename to humanoid_robot_intelligence_control_system_demo/src/soccer/ball_follower.cpp index cfd00ed..98916b3 100644 --- a/humanoid_robot_demo/src/soccer/ball_follower.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/soccer/ball_follower.cpp @@ -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("/humanoid_robot/walking/command", 0); + nh_.advertise("/humanoid_robot_intelligence_control_system/walking/command", 0); set_walking_param_pub_ = - nh_.advertise( - "/humanoid_robot/walking/set_params", 0); + nh_.advertise( + "/humanoid_robot_intelligence_control_system/walking/set_params", 0); get_walking_param_client_ = - nh_.serviceClient( - "/humanoid_robot/walking/get_params"); + nh_.serviceClient( + "/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 diff --git a/humanoid_robot_demo/src/soccer/ball_tracker.cpp b/humanoid_robot_intelligence_control_system_demo/src/soccer/ball_tracker.cpp similarity index 93% rename from humanoid_robot_demo/src/soccer/ball_tracker.cpp rename to humanoid_robot_intelligence_control_system_demo/src/soccer/ball_tracker.cpp index 9f7c6fa..9cbeba4 100644 --- a/humanoid_robot_demo/src/soccer/ball_tracker.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/soccer/ball_tracker.cpp @@ -16,9 +16,9 @@ /* Author: Kayman Jung */ -#include "humanoid_robot_demo/ball_tracker.h" +#include "humanoid_robot_intelligence_control_system_demo/ball_tracker.h" -namespace humanoid_robot_op { +namespace humanoid_robot_intelligence_control_system_op { BallTracker::BallTracker() : nh_(ros::this_node::getName()), FOV_WIDTH(35.2 * M_PI / 180), @@ -36,11 +36,11 @@ BallTracker::BallTracker() << d_gain_); head_joint_offset_pub_ = nh_.advertise( - "/humanoid_robot/head_control/set_joint_states_offset", 0); + "/humanoid_robot_intelligence_control_system/head_control/set_joint_states_offset", 0); head_joint_pub_ = nh_.advertise( - "/humanoid_robot/head_control/set_joint_states", 0); + "/humanoid_robot_intelligence_control_system/head_control/set_joint_states", 0); head_scan_pub_ = nh_.advertise( - "/humanoid_robot/head_control/scan_command", 0); + "/humanoid_robot_intelligence_control_system/head_control/scan_command", 0); // error_pub_ = // nh_.advertise("/ball_tracker/errors", 0); @@ -54,7 +54,7 @@ BallTracker::BallTracker() BallTracker::~BallTracker() {} void BallTracker::ballPositionCallback( - const humanoid_robot_ball_detector::CircleSetStamped::ConstPtr &msg) { + const humanoid_robot_intelligence_control_system_ball_detector::CircleSetStamped::ConstPtr &msg) { for (int idx = 0; idx < msg->circles.size(); idx++) { if (ball_position_.z >= msg->circles[idx].z) continue; @@ -264,4 +264,4 @@ void BallTracker::scanBall() { head_scan_pub_.publish(scan_msg); } -} // namespace humanoid_robot_op +} // namespace humanoid_robot_intelligence_control_system_op diff --git a/humanoid_robot_demo/src/soccer/soccer_demo.cpp b/humanoid_robot_intelligence_control_system_demo/src/soccer/soccer_demo.cpp similarity index 86% rename from humanoid_robot_demo/src/soccer/soccer_demo.cpp rename to humanoid_robot_intelligence_control_system_demo/src/soccer/soccer_demo.cpp index 1c2c559..3a0bba6 100644 --- a/humanoid_robot_demo/src/soccer/soccer_demo.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/soccer/soccer_demo.cpp @@ -16,9 +16,9 @@ /* Author: Kayman Jung */ -#include "humanoid_robot_demo/soccer_demo.h" +#include "humanoid_robot_intelligence_control_system_demo/soccer_demo.h" -namespace humanoid_robot_op { +namespace humanoid_robot_intelligence_control_system_op { SoccerDemo::SoccerDemo() : FALL_FORWARD_LIMIT(60), FALL_BACK_LIMIT(-60), SPIN_RATE(30), @@ -32,7 +32,7 @@ SoccerDemo::SoccerDemo() ros::NodeHandle nh(ros::this_node::getName()); - std::string default_path = ros::package::getPath("humanoid_robot_gui_demo") + + std::string default_path = ros::package::getPath("humanoid_robot_intelligence_control_system_gui_demo") + "/config/gui_config.yaml"; std::string path = nh.param("demo_config", default_path); parseJointNameFromYaml(path); @@ -167,26 +167,26 @@ void SoccerDemo::callbackThread() { // subscriber & publisher module_control_pub_ = - nh.advertise( - "/humanoid_robot/set_joint_ctrl_modules", 0); + nh.advertise( + "/humanoid_robot_intelligence_control_system/set_joint_ctrl_modules", 0); motion_index_pub_ = - nh.advertise("/humanoid_robot/action/page_num", 0); - rgb_led_pub_ = nh.advertise( - "/humanoid_robot/sync_write_item", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/action/page_num", 0); + rgb_led_pub_ = nh.advertise( + "/humanoid_robot_intelligence_control_system/sync_write_item", 0); - buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1, + buttuon_sub_ = nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, &SoccerDemo::buttonHandlerCallback, this); - demo_command_sub_ = nh.subscribe("/humanoid_robot/demo_command", 1, + demo_command_sub_ = nh.subscribe("/humanoid_robot_intelligence_control_system/demo_command", 1, &SoccerDemo::demoCommandCallback, this); - imu_data_sub_ = nh.subscribe("/humanoid_robot/open_cr/imu", 1, + imu_data_sub_ = nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/imu", 1, &SoccerDemo::imuDataCallback, this); is_running_client_ = - nh.serviceClient( - "/humanoid_robot/action/is_running"); + nh.serviceClient( + "/humanoid_robot_intelligence_control_system/action/is_running"); set_joint_module_client_ = - nh.serviceClient( - "/humanoid_robot/set_present_joint_ctrl_modules"); + nh.serviceClient( + "/humanoid_robot_intelligence_control_system/set_present_joint_ctrl_modules"); test_pub_ = nh.advertise("/debug_text", 0); @@ -239,7 +239,7 @@ void SoccerDemo::trackingThread() { void SoccerDemo::setBodyModuleToDemo(const std::string &body_module, bool with_head_control) { - humanoid_robot_controller_msgs::JointCtrlModule control_msg; + humanoid_robot_intelligence_control_system_controller_msgs::JointCtrlModule control_msg; std::string head_module = "head_control_module"; std::map::iterator joint_iter; @@ -271,7 +271,7 @@ void SoccerDemo::setModuleToDemo(const std::string &module_name) { if (enable_ == false) return; - humanoid_robot_controller_msgs::JointCtrlModule control_msg; + humanoid_robot_intelligence_control_system_controller_msgs::JointCtrlModule control_msg; std::map::iterator joint_iter; for (joint_iter = id_joint_table_.begin(); @@ -289,8 +289,8 @@ void SoccerDemo::setModuleToDemo(const std::string &module_name) { } void SoccerDemo::callServiceSettingModule( - const humanoid_robot_controller_msgs::JointCtrlModule &modules) { - humanoid_robot_controller_msgs::SetJointModule set_joint_srv; + const humanoid_robot_intelligence_control_system_controller_msgs::JointCtrlModule &modules) { + humanoid_robot_intelligence_control_system_controller_msgs::SetJointModule set_joint_srv; set_joint_srv.request.joint_name = modules.joint_name; set_joint_srv.request.module_name = modules.module_name; @@ -402,7 +402,7 @@ void SoccerDemo::imuDataCallback(const sensor_msgs::Imu::ConstPtr &msg) { Eigen::Quaterniond orientation(msg->orientation.w, msg->orientation.x, msg->orientation.y, msg->orientation.z); Eigen::MatrixXd rpy_orientation = - humanoid_robot_framework::convertQuaternionToRPY(orientation); + humanoid_robot_intelligence_control_system_framework::convertQuaternionToRPY(orientation); rpy_orientation *= (180 / M_PI); ROS_INFO_COND(DEBUG_PRINT, "Roll : %3.2f, Pitch : %2.2f", @@ -455,12 +455,12 @@ void SoccerDemo::handleKick(int ball_position) { // kick motion switch (ball_position) { - case humanoid_robot_op::BallFollower::OnRight: + case humanoid_robot_intelligence_control_system_op::BallFollower::OnRight: std::cout << "Kick Motion [R]: " << ball_position << std::endl; playMotion(is_grass_ ? RightKick + ForGrass : RightKick); break; - case humanoid_robot_op::BallFollower::OnLeft: + case humanoid_robot_intelligence_control_system_op::BallFollower::OnLeft: std::cout << "Kick Motion [L]: " << ball_position << std::endl; playMotion(is_grass_ ? LeftKick + ForGrass : LeftKick); break; @@ -506,13 +506,13 @@ void SoccerDemo::handleKick() { } switch (ball_position) { - case humanoid_robot_op::BallFollower::OnRight: + case humanoid_robot_intelligence_control_system_op::BallFollower::OnRight: std::cout << "Kick Motion [R]: " << ball_position << std::endl; sendDebugTopic("Kick the ball using Right foot"); playMotion(is_grass_ ? RightKick + ForGrass : RightKick); break; - case humanoid_robot_op::BallFollower::OnLeft: + case humanoid_robot_intelligence_control_system_op::BallFollower::OnLeft: std::cout << "Kick Motion [L]: " << ball_position << std::endl; sendDebugTopic("Kick the ball using Left foot"); playMotion(is_grass_ ? LeftKick + ForGrass : LeftKick); @@ -585,7 +585,7 @@ void SoccerDemo::setRGBLED(int blue, int green, int red) { int led_full_unit = 0x1F; int led_value = (blue & led_full_unit) << 10 | (green & led_full_unit) << 5 | (red & led_full_unit); - humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg; + humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg; syncwrite_msg.item_name = "LED_RGB"; syncwrite_msg.joint_name.push_back("open-cr"); syncwrite_msg.value.push_back(led_value); @@ -595,7 +595,7 @@ void SoccerDemo::setRGBLED(int blue, int green, int red) { // check running of action bool SoccerDemo::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"); @@ -616,4 +616,4 @@ void SoccerDemo::sendDebugTopic(const std::string &msgs) { test_pub_.publish(debug_msg); } -} // namespace humanoid_robot_op +} // namespace humanoid_robot_intelligence_control_system_op diff --git a/humanoid_robot_demo/src/test/button_test.cpp b/humanoid_robot_intelligence_control_system_demo/src/test/button_test.cpp similarity index 83% rename from humanoid_robot_demo/src/test/button_test.cpp rename to humanoid_robot_intelligence_control_system_demo/src/test/button_test.cpp index 7429d44..d6ea5a0 100644 --- a/humanoid_robot_demo/src/test/button_test.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/test/button_test.cpp @@ -16,9 +16,9 @@ /* Author: Kayman Jung */ -#include "humanoid_robot_demo/button_test.h" +#include "humanoid_robot_intelligence_control_system_demo/button_test.h" -namespace humanoid_robot_op { +namespace humanoid_robot_intelligence_control_system_op { ButtonTest::ButtonTest() : SPIN_RATE(30), led_count_(0), rgb_led_count_(0) { enable_ = false; @@ -31,7 +31,7 @@ ButtonTest::ButtonTest() : SPIN_RATE(30), led_count_(0), rgb_led_count_(0) { boost::thread(boost::bind(&ButtonTest::processThread, this)); default_mp3_path_ = - ros::package::getPath("humanoid_robot_demo") + "/data/mp3/test/"; + ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/data/mp3/test/"; } ButtonTest::~ButtonTest() {} @@ -64,11 +64,11 @@ void ButtonTest::callbackThread() { ros::NodeHandle nh(ros::this_node::getName()); // subscriber & publisher - rgb_led_pub_ = nh.advertise( - "/humanoid_robot/sync_write_item", 0); + rgb_led_pub_ = nh.advertise( + "/humanoid_robot_intelligence_control_system/sync_write_item", 0); play_sound_pub_ = nh.advertise("/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, &ButtonTest::buttonHandlerCallback, this); while (nh.ok()) { @@ -110,7 +110,7 @@ void ButtonTest::setRGBLED(int blue, int green, int red) { int led_full_unit = 0x1F; int led_value = (blue & led_full_unit) << 10 | (green & led_full_unit) << 5 | (red & led_full_unit); - humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg; + humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg; syncwrite_msg.item_name = "LED_RGB"; syncwrite_msg.joint_name.push_back("open-cr"); syncwrite_msg.value.push_back(led_value); @@ -119,7 +119,7 @@ void ButtonTest::setRGBLED(int blue, int green, int red) { } void ButtonTest::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); @@ -134,4 +134,4 @@ void ButtonTest::playSound(const std::string &path) { play_sound_pub_.publish(sound_msg); } -} /* namespace humanoid_robot_op */ +} /* namespace humanoid_robot_intelligence_control_system_op */ diff --git a/humanoid_robot_demo/src/test/mic_test.cpp b/humanoid_robot_intelligence_control_system_demo/src/test/mic_test.cpp similarity index 91% rename from humanoid_robot_demo/src/test/mic_test.cpp rename to humanoid_robot_intelligence_control_system_demo/src/test/mic_test.cpp index a82bbaf..008755b 100644 --- a/humanoid_robot_demo/src/test/mic_test.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/test/mic_test.cpp @@ -16,9 +16,9 @@ /* Author: Kayman Jung */ -#include "humanoid_robot_demo/mic_test.h" +#include "humanoid_robot_intelligence_control_system_demo/mic_test.h" -namespace humanoid_robot_op { +namespace humanoid_robot_intelligence_control_system_op { MicTest::MicTest() : SPIN_RATE(30), is_wait_(false), wait_time_(-1), test_status_(Ready), @@ -32,10 +32,10 @@ MicTest::MicTest() boost::thread process_thread = boost::thread(boost::bind(&MicTest::processThread, this)); - recording_file_name_ = ros::package::getPath("humanoid_robot_demo") + + recording_file_name_ = ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/data/mp3/test/mic-test.wav"; default_mp3_path_ = - ros::package::getPath("humanoid_robot_demo") + "/data/mp3/test/"; + ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/data/mp3/test/"; start_time_ = ros::Time::now(); } @@ -118,7 +118,7 @@ void MicTest::callbackThread() { ros::NodeHandle nh(ros::this_node::getName()); // subscriber & publisher - buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1, + buttuon_sub_ = nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, &MicTest::buttonHandlerCallback, this); play_sound_pub_ = nh.advertise("/play_sound_file", 0); @@ -235,4 +235,4 @@ void MicTest::startTimer(double wait_time) { void MicTest::finishTimer() { wait_time_ = -1; } -} /* namespace humanoid_robot_op */ +} /* namespace humanoid_robot_intelligence_control_system_op */ diff --git a/humanoid_robot_demo/src/test_node.cpp b/humanoid_robot_intelligence_control_system_demo/src/test_node.cpp similarity index 79% rename from humanoid_robot_demo/src/test_node.cpp rename to humanoid_robot_intelligence_control_system_demo/src/test_node.cpp index c55ad06..53e1209 100644 --- a/humanoid_robot_demo/src/test_node.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/test_node.cpp @@ -20,13 +20,13 @@ #include #include -#include "humanoid_robot_controller_msgs/SyncWriteItem.h" -#include "humanoid_robot_demo/action_demo.h" -#include "humanoid_robot_demo/button_test.h" -#include "humanoid_robot_demo/mic_test.h" -#include "humanoid_robot_demo/soccer_demo.h" -#include "humanoid_robot_demo/vision_demo.h" -#include "humanoid_robot_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/button_test.h" +#include "humanoid_robot_intelligence_control_system_demo/mic_test.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, @@ -66,33 +66,33 @@ int main(int argc, char **argv) { ros::init(argc, argv, "self_test_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_op::ButtonTest *button_test = - new humanoid_robot_op::ButtonTest(); - humanoid_robot_op::MicTest *mic_test = new humanoid_robot_op::MicTest(); + 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(); + humanoid_robot_intelligence_control_system_op::ButtonTest *button_test = + new humanoid_robot_intelligence_control_system_op::ButtonTest(); + humanoid_robot_intelligence_control_system_op::MicTest *mic_test = new humanoid_robot_intelligence_control_system_op::MicTest(); ros::NodeHandle nh(ros::this_node::getName()); init_pose_pub = - nh.advertise("/humanoid_robot/base/ini_pose", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/base/ini_pose", 0); play_sound_pub = nh.advertise("/play_sound_file", 0); - led_pub = nh.advertise( - "/humanoid_robot/sync_write_item", 0); + led_pub = nh.advertise( + "/humanoid_robot_intelligence_control_system/sync_write_item", 0); dxl_torque_pub = - nh.advertise("/humanoid_robot/dxl_torque", 0); + nh.advertise("/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(); @@ -100,7 +100,7 @@ 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(); @@ -108,7 +108,7 @@ 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 @@ -219,7 +219,7 @@ void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg) { playSound(default_mp3_path + "test/Self test ready mode.mp3"); setLED(0x01 | 0x02 | 0x04); } else if (msg->data == "user_long") { - // it's using in humanoid_robot_manager + // it's using in humanoid_robot_intelligence_control_system_manager // torque on and going to init pose } } @@ -321,7 +321,7 @@ 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); @@ -339,7 +339,7 @@ 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; } diff --git a/humanoid_robot_demo/src/vision/face_tracker.cpp b/humanoid_robot_intelligence_control_system_demo/src/vision/face_tracker.cpp similarity index 90% rename from humanoid_robot_demo/src/vision/face_tracker.cpp rename to humanoid_robot_intelligence_control_system_demo/src/vision/face_tracker.cpp index 6bd0705..20de21e 100644 --- a/humanoid_robot_demo/src/vision/face_tracker.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/vision/face_tracker.cpp @@ -16,24 +16,24 @@ /* Author: Kayman Jung */ -#include "humanoid_robot_demo/face_tracker.h" +#include "humanoid_robot_intelligence_control_system_demo/face_tracker.h" -namespace humanoid_robot_op { +namespace humanoid_robot_intelligence_control_system_op { FaceTracker::FaceTracker() : nh_(ros::this_node::getName()), FOV_WIDTH(35.2 * M_PI / 180), FOV_HEIGHT(21.6 * M_PI / 180), NOT_FOUND_THRESHOLD(50), use_head_scan_(false), count_not_found_(0), on_tracking_(false) { head_joint_offset_pub_ = nh_.advertise( - "/humanoid_robot/head_control/set_joint_states_offset", 0); + "/humanoid_robot_intelligence_control_system/head_control/set_joint_states_offset", 0); head_joint_pub_ = nh_.advertise( - "/humanoid_robot/head_control/set_joint_states", 0); + "/humanoid_robot_intelligence_control_system/head_control/set_joint_states", 0); head_scan_pub_ = nh_.advertise( - "/humanoid_robot/head_control/scan_command", 0); + "/humanoid_robot_intelligence_control_system/head_control/scan_command", 0); face_position_sub_ = nh_.subscribe("/face_position", 1, &FaceTracker::facePositionCallback, this); - // face_tracking_command_sub_ = nh_.subscribe("/humanoid_robot/demo_command", + // face_tracking_command_sub_ = nh_.subscribe("/humanoid_robot_intelligence_control_system/demo_command", // 1, &FaceTracker::faceTrackerCommandCallback, this); } @@ -178,4 +178,4 @@ void FaceTracker::scanFace() { // ROS_INFO("Scan the ball"); } -} // namespace humanoid_robot_op +} // namespace humanoid_robot_intelligence_control_system_op diff --git a/humanoid_robot_demo/src/vision/vision_demo.cpp b/humanoid_robot_intelligence_control_system_demo/src/vision/vision_demo.cpp similarity index 83% rename from humanoid_robot_demo/src/vision/vision_demo.cpp rename to humanoid_robot_intelligence_control_system_demo/src/vision/vision_demo.cpp index 26e87c8..01e0047 100644 --- a/humanoid_robot_demo/src/vision/vision_demo.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/vision/vision_demo.cpp @@ -16,9 +16,9 @@ /* Author: Kayman Jung */ -#include "humanoid_robot_demo/vision_demo.h" +#include "humanoid_robot_intelligence_control_system_demo/vision_demo.h" -namespace humanoid_robot_op { +namespace humanoid_robot_intelligence_control_system_op { VisionDemo::VisionDemo() : SPIN_RATE(30), TIME_TO_INIT(10), tracking_status_(FaceTracker::Waiting) { @@ -121,22 +121,22 @@ void VisionDemo::callbackThread() { // subscriber & publisher module_control_pub_ = - nh.advertise("/humanoid_robot/enable_ctrl_module", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/enable_ctrl_module", 0); motion_index_pub_ = - nh.advertise("/humanoid_robot/action/page_num", 0); - rgb_led_pub_ = nh.advertise( - "/humanoid_robot/sync_write_item", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/action/page_num", 0); + rgb_led_pub_ = nh.advertise( + "/humanoid_robot_intelligence_control_system/sync_write_item", 0); face_tracking_command_pub_ = nh.advertise("/face_tracking/command", 0); - buttuon_sub_ = nh.subscribe("/humanoid_robot/open_cr/button", 1, + buttuon_sub_ = nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, &VisionDemo::buttonHandlerCallback, this); faceCoord_sub_ = nh.subscribe("/faceCoord", 1, &VisionDemo::facePositionCallback, this); set_joint_module_client_ = - nh.serviceClient( - "/humanoid_robot/set_present_ctrl_modules"); + nh.serviceClient( + "/humanoid_robot_intelligence_control_system/set_present_ctrl_modules"); while (nh.ok()) { ros::spinOnce(); @@ -171,7 +171,7 @@ void VisionDemo::setModuleToDemo(const std::string &module_name) { } void VisionDemo::callServiceSettingModule(const std::string &module_name) { - 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) { @@ -216,7 +216,7 @@ void VisionDemo::setRGBLED(int blue, int green, int red) { int led_full_unit = 0x1F; int led_value = (blue & led_full_unit) << 10 | (green & led_full_unit) << 5 | (red & led_full_unit); - humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg; + humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg; syncwrite_msg.item_name = "LED_RGB"; syncwrite_msg.joint_name.push_back("open-cr"); syncwrite_msg.value.push_back(led_value); @@ -224,4 +224,4 @@ void VisionDemo::setRGBLED(int blue, int green, int red) { rgb_led_pub_.publish(syncwrite_msg); } -} /* namespace humanoid_robot_op */ +} /* namespace humanoid_robot_intelligence_control_system_op */ diff --git a/humanoid_robot_read_write_demo/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_read_write_demo/CHANGELOG.rst similarity index 90% rename from humanoid_robot_read_write_demo/CHANGELOG.rst rename to humanoid_robot_intelligence_control_system_read_write_demo/CHANGELOG.rst index 5b53cbd..db641ea 100644 --- a/humanoid_robot_read_write_demo/CHANGELOG.rst +++ b/humanoid_robot_intelligence_control_system_read_write_demo/CHANGELOG.rst @@ -1,5 +1,5 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package humanoid_robot_read_write_demo +Changelog for package humanoid_robot_intelligence_control_system_read_write_demo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.3.2 (2023-10-03) diff --git a/humanoid_robot_read_write_demo/CMakeLists.txt b/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt similarity index 80% rename from humanoid_robot_read_write_demo/CMakeLists.txt rename to humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt index 40ef26a..da225ca 100644 --- a/humanoid_robot_read_write_demo/CMakeLists.txt +++ b/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt @@ -1,11 +1,11 @@ cmake_minimum_required(VERSION 3.8) -project(humanoid_robot_read_write_demo) +project(humanoid_robot_intelligence_control_system_read_write_demo) if($ENV{ROS_VERSION} EQUAL 1) find_package( catkin REQUIRED COMPONENTS - humanoid_robot_controller_msgs + humanoid_robot_intelligence_control_system_controller_msgs roscpp sensor_msgs std_msgs @@ -20,7 +20,7 @@ if($ENV{ROS_VERSION} EQUAL 1) INCLUDE_DIRS CATKIN_DEPENDS roscpp - humanoid_robot_controller_msgs + humanoid_robot_intelligence_control_system_controller_msgs roscpp sensor_msgs std_msgs diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch b/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch new file mode 100644 index 0000000..2893401 --- /dev/null +++ b/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/humanoid_robot_read_write_demo/package.xml b/humanoid_robot_intelligence_control_system_read_write_demo/package.xml similarity index 59% rename from humanoid_robot_read_write_demo/package.xml rename to humanoid_robot_intelligence_control_system_read_write_demo/package.xml index d2f8af4..0efd54a 100644 --- a/humanoid_robot_read_write_demo/package.xml +++ b/humanoid_robot_intelligence_control_system_read_write_demo/package.xml @@ -1,9 +1,9 @@ - humanoid_robot_read_write_demo + humanoid_robot_intelligence_control_system_read_write_demo 0.3.2 - The humanoid_robot_read_write_demo package + The humanoid_robot_intelligence_control_system_read_write_demo package Apache 2.0 Ronaldson Bellande @@ -14,20 +14,20 @@ roscpp std_msgs sensor_msgs - humanoid_robot_controller_msgs - humanoid_robot_manager + humanoid_robot_intelligence_control_system_controller_msgs + humanoid_robot_intelligence_control_system_manager roscpp std_msgs sensor_msgs - humanoid_robot_controller_msgs - humanoid_robot_manager + humanoid_robot_intelligence_control_system_controller_msgs + humanoid_robot_intelligence_control_system_manager roscpp std_msgs sensor_msgs - humanoid_robot_controller_msgs - humanoid_robot_manager + humanoid_robot_intelligence_control_system_controller_msgs + humanoid_robot_intelligence_control_system_manager ament_cmake @@ -35,19 +35,19 @@ roscpp std_msgs sensor_msgs - humanoid_robot_controller_msgs - humanoid_robot_manager + humanoid_robot_intelligence_control_system_controller_msgs + humanoid_robot_intelligence_control_system_manager roscpp std_msgs sensor_msgs - humanoid_robot_controller_msgs - humanoid_robot_manager + humanoid_robot_intelligence_control_system_controller_msgs + humanoid_robot_intelligence_control_system_manager roscpp std_msgs sensor_msgs - humanoid_robot_controller_msgs - humanoid_robot_manager + humanoid_robot_intelligence_control_system_controller_msgs + humanoid_robot_intelligence_control_system_manager diff --git a/humanoid_robot_read_write_demo/src/read_write.cpp b/humanoid_robot_intelligence_control_system_read_write_demo/src/read_write.cpp similarity index 80% rename from humanoid_robot_read_write_demo/src/read_write.cpp rename to humanoid_robot_intelligence_control_system_read_write_demo/src/read_write.cpp index e40f235..949af70 100644 --- a/humanoid_robot_read_write_demo/src/read_write.cpp +++ b/humanoid_robot_intelligence_control_system_read_write_demo/src/read_write.cpp @@ -20,8 +20,8 @@ #include #include -#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" void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg); void jointstatesCallback(const sensor_msgs::JointState::ConstPtr &msg); @@ -62,32 +62,32 @@ int main(int argc, char **argv) { ros::NodeHandle nh(ros::this_node::getName()); - init_pose_pub = nh.advertise("/humanoid_robot/base/ini_pose", 0); - sync_write_pub = nh.advertise( - "/humanoid_robot/sync_write_item", 0); - dxl_torque_pub = nh.advertise("/humanoid_robot/dxl_torque", 0); + init_pose_pub = nh.advertise("/humanoid_robot_intelligence_control_system/base/ini_pose", 0); + sync_write_pub = nh.advertise( + "/humanoid_robot_intelligence_control_system/sync_write_item", 0); + dxl_torque_pub = nh.advertise("/humanoid_robot_intelligence_control_system/dxl_torque", 0); write_joint_pub = - nh.advertise("/humanoid_robot/set_joint_states", 0); + nh.advertise("/humanoid_robot_intelligence_control_system/set_joint_states", 0); write_joint_pub2 = nh.advertise( - "/humanoid_robot/direct_control/set_joint_states", 0); + "/humanoid_robot_intelligence_control_system/direct_control/set_joint_states", 0); read_joint_sub = - nh.subscribe("/humanoid_robot/present_joint_states", 1, jointstatesCallback); + nh.subscribe("/humanoid_robot_intelligence_control_system/present_joint_states", 1, jointstatesCallback); buttuon_sub = - nh.subscribe("/humanoid_robot/open_cr/button", 1, buttonHandlerCallback); + nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, buttonHandlerCallback); // service set_joint_module_client = - nh.serviceClient( - "/humanoid_robot/set_present_ctrl_modules"); + nh.serviceClient( + "/humanoid_robot_intelligence_control_system/set_present_ctrl_modules"); ros::start(); // set node loop rate ros::Rate loop_rate(SPIN_RATE); - // wait for starting of humanoid_robot_manager - std::string manager_name = "/humanoid_robot_manager"; + // wait for starting of humanoid_robot_intelligence_control_system_manager + std::string manager_name = "/humanoid_robot_intelligence_control_system_manager"; while (ros::ok()) { ros::Duration(1.0).sleep(); @@ -95,7 +95,7 @@ int main(int argc, char **argv) { break; ROS_INFO_COND(DEBUG_PRINT, "Succeed to connect"); } - ROS_WARN("Waiting for humanoid_robot manager"); + ROS_WARN("Waiting for humanoid_robot_intelligence_control_system manager"); } readyToDemo(); @@ -116,7 +116,7 @@ int main(int argc, char **argv) { } void buttonHandlerCallback(const std_msgs::String::ConstPtr &msg) { - // starting demo using humanoid_robot_controller + // starting demo using humanoid_robot_intelligence_control_system_controller if (msg->data == "mode") { control_module = Framework; ROS_INFO("Button : mode | Framework"); @@ -215,7 +215,7 @@ void goInitPose() { } 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); @@ -233,12 +233,12 @@ 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; } void setModule(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) { @@ -257,7 +257,7 @@ void torqueOnAll() { } void torqueOff(const std::string &body_side) { - humanoid_robot_controller_msgs::SyncWriteItem syncwrite_msg; + humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg; int torque_value = 0; syncwrite_msg.item_name = "torque_enable"; diff --git a/humanoid_robot_read_write_demo/launch/humanoid_robot_read_write.launch b/humanoid_robot_read_write_demo/launch/humanoid_robot_read_write.launch deleted file mode 100644 index 3d1bc19..0000000 --- a/humanoid_robot_read_write_demo/launch/humanoid_robot_read_write.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - -