latest pushes

.robotis_framework.rosinstall

@@ -1 +0,0 @@
-- git: {local-name: robotis_controller_msgs, uri: 'https://github.com/Robotics-Sensors/ROBOTIS-Framework-msgs.git', version: noetic}

.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=".robotis_framework.rosinstall"
+   - ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".humanoid_robot_framework.rosinstall"
 branches:
   only:
     - master

fix_errors.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+
+# Get the URL from .git/config
+git_url=$(git config --get remote.origin.url)
+
+# Check if a URL is found
+if [ -z "$git_url" ]; then
+  echo "No remote URL found in .git/config."
+  exit 1
+fi
+
+# Clone the repository into a temporary folder
+git clone "$git_url" tmp_clone
+
+# Check if the clone was successful
+if [ $? -eq 0 ]; then
+  # Remove the existing .git directory if it exists
+  if [ -d ".git" ]; then
+    rm -rf .git
+  fi
+
+  # Copy the .git directory from the clone to the current repository
+  cp -r tmp_clone/.git .
+
+  # Remove the clone directory
+  rm -rf tmp_clone
+
+  echo "Repository cloned and .git directory copied successfully."
+else
+  echo "Failed to clone the repository."
+fi

humanoid_robot_controller/CHANGELOG.rst

@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_controller
+Changelog for package humanoid_robot_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.3.1 (2023-09-27)
@@ -63,7 +63,7 @@ Changelog for package robotis_controller
 
 0.2.2 (2017-04-24)
 ------------------
-* updated robotis_controller.cpp
+* updated humanoid_robot_controller.cpp
 * changed to read control cycle from .robot file
 * Contributors: Zerom
 
@@ -76,7 +76,7 @@ Changelog for package robotis_controller
 * - added WriteControlTable msg callback
 * mode change debugging
 * - optimized cpu usage by spin loop (by astumpf)
-* - robotis_controller process() : processing order changed.
+* - humanoid_robot_controller process() : processing order changed.
   * 1st : packet communication
   * 2nd : processing modules
 * - dependencies fixed. (Pull requests `#26 <https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues/26>`_)

humanoid_robot_controller/CMakeLists.txt

@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 3.0.2)
-project(robotis_controller)
+project(humanoid_robot_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -15,10 +15,10 @@ find_package(catkin REQUIRED COMPONENTS
   roslib
   std_msgs
   sensor_msgs
-  robotis_controller_msgs
+  humanoid_robot_controller_msgs
   dynamixel_sdk
-  robotis_device
-  robotis_framework_common
+  humanoid_robot_device
+  humanoid_robot_framework_common
   cmake_modules
 )
 
@@ -59,16 +59,16 @@ endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 ################################################################################
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES robotis_controller
+  LIBRARIES humanoid_robot_controller
   CATKIN_DEPENDS 
   roscpp 
   roslib 
   std_msgs 
   sensor_msgs 
-  robotis_controller_msgs 
+  humanoid_robot_controller_msgs 
   dynamixel_sdk 
-  robotis_device 
-  robotis_framework_common 
+  humanoid_robot_device 
+  humanoid_robot_framework_common 
   cmake_modules
   DEPENDS Boost
 )
@@ -83,14 +83,14 @@ include_directories(
   ${YAML_CPP_INCLUDE_DIRS}
 )
 
-add_library(robotis_controller src/robotis_controller/robotis_controller.cpp)
-add_dependencies(robotis_controller ${catkin_EXPORTED_TARGETS})
-target_link_libraries(robotis_controller ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES})
+add_library(humanoid_robot_controller src/humanoid_robot_controller/humanoid_robot_controller.cpp)
+add_dependencies(humanoid_robot_controller ${catkin_EXPORTED_TARGETS})
+target_link_libraries(humanoid_robot_controller ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES})
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS robotis_controller
+install(TARGETS humanoid_robot_controller
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

humanoid_robot_controller/include/humanoid_robot_controller/humanoid_robot_controller.h

@@ -15,7 +15,7 @@
  *******************************************************************************/
 
 /*
- * robotis_controller.h
+ * humanoid_robot_controller.h
  *
  *  Created on: 2016. 1. 15.
  *      Author: zerom
@@ -32,21 +32,21 @@
 #include <std_msgs/String.h>
 #include <yaml-cpp/yaml.h>
 
-#include "robotis_controller_msgs/GetJointModule.h"
-#include "robotis_controller_msgs/JointCtrlModule.h"
-#include "robotis_controller_msgs/LoadOffset.h"
-#include "robotis_controller_msgs/SetJointModule.h"
-#include "robotis_controller_msgs/SetModule.h"
-#include "robotis_controller_msgs/SyncWriteItem.h"
-#include "robotis_controller_msgs/WriteControlTable.h"
+#include "humanoid_robot_controller_msgs/GetJointModule.h"
+#include "humanoid_robot_controller_msgs/JointCtrlModule.h"
+#include "humanoid_robot_controller_msgs/LoadOffset.h"
+#include "humanoid_robot_controller_msgs/SetJointModule.h"
+#include "humanoid_robot_controller_msgs/SetModule.h"
+#include "humanoid_robot_controller_msgs/SyncWriteItem.h"
+#include "humanoid_robot_controller_msgs/WriteControlTable.h"
 
 #include "dynamixel_sdk/group_bulk_read.h"
 #include "dynamixel_sdk/group_sync_write.h"
-#include "robotis_device/robot.h"
-#include "robotis_framework_common/motion_module.h"
-#include "robotis_framework_common/sensor_module.h"
+#include "humanoid_robot_device/robot.h"
+#include "humanoid_robot_framework_common/motion_module.h"
+#include "humanoid_robot_framework_common/sensor_module.h"
 
-namespace robotis_framework {
+namespace humanoid_robot_framework {
 
 enum ControllerMode { MotionModuleMode, DirectControlMode };
 
@@ -75,7 +75,7 @@ private:
   void msgQueueThread();
   void setCtrlModuleThread(std::string ctrl_module);
   void setJointCtrlModuleThread(
-      const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg);
+      const humanoid_robot_controller_msgs::JointCtrlModule::ConstPtr &msg);
 
   bool isTimerStopped();
   void initializeSyncWrite();
@@ -143,25 +143,25 @@ public:
 
   /* ROS Topic Callback Functions */
   void writeControlTableCallback(
-      const robotis_controller_msgs::WriteControlTable::ConstPtr &msg);
+      const humanoid_robot_controller_msgs::WriteControlTable::ConstPtr &msg);
   void syncWriteItemCallback(
-      const robotis_controller_msgs::SyncWriteItem::ConstPtr &msg);
+      const humanoid_robot_controller_msgs::SyncWriteItem::ConstPtr &msg);
   void setControllerModeCallback(const std_msgs::String::ConstPtr &msg);
   void setJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
   void setJointCtrlModuleCallback(
-      const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg);
+      const humanoid_robot_controller_msgs::JointCtrlModule::ConstPtr &msg);
   void setCtrlModuleCallback(const std_msgs::String::ConstPtr &msg);
   void enableOffsetCallback(const std_msgs::Bool::ConstPtr &msg);
   bool getJointCtrlModuleService(
-      robotis_controller_msgs::GetJointModule::Request &req,
-      robotis_controller_msgs::GetJointModule::Response &res);
+      humanoid_robot_controller_msgs::GetJointModule::Request &req,
+      humanoid_robot_controller_msgs::GetJointModule::Response &res);
   bool setJointCtrlModuleService(
-      robotis_controller_msgs::SetJointModule::Request &req,
-      robotis_controller_msgs::SetJointModule::Response &res);
-  bool setCtrlModuleService(robotis_controller_msgs::SetModule::Request &req,
-                            robotis_controller_msgs::SetModule::Response &res);
-  bool loadOffsetService(robotis_controller_msgs::LoadOffset::Request &req,
-                         robotis_controller_msgs::LoadOffset::Response &res);
+      humanoid_robot_controller_msgs::SetJointModule::Request &req,
+      humanoid_robot_controller_msgs::SetJointModule::Response &res);
+  bool setCtrlModuleService(humanoid_robot_controller_msgs::SetModule::Request &req,
+                            humanoid_robot_controller_msgs::SetModule::Response &res);
+  bool loadOffsetService(humanoid_robot_controller_msgs::LoadOffset::Request &req,
+                         humanoid_robot_controller_msgs::LoadOffset::Response &res);
 
   void gazeboJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
 
@@ -202,6 +202,6 @@ public:
                uint8_t *data, uint8_t *error = 0);
 };
 
-} // namespace robotis_framework
+} // namespace humanoid_robot_framework
 
 #endif /* ROBOTIS_CONTROLLER_ROBOTIS_CONTROLLER_H_ */

humanoid_robot_controller/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>robotis_controller</name>
+  <name>humanoid_robot_controller</name>
   <version>0.3.0</version>
-  <description>robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series</description>
+  <description>humanoid_robot_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
@@ -12,10 +12,10 @@
   <build_depend>roslib</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>robotis_controller_msgs</build_depend>
+  <build_depend>humanoid_robot_controller_msgs</build_depend>
   <build_depend>dynamixel_sdk</build_depend>
-  <build_depend>robotis_device</build_depend>
-  <build_depend>robotis_framework_common</build_depend>
+  <build_depend>humanoid_robot_device</build_depend>
+  <build_depend>humanoid_robot_framework_common</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>yaml-cpp</build_depend>
 
@@ -23,10 +23,10 @@
   <build_export_depend>roslib</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>robotis_controller_msgs</build_export_depend>
+  <build_export_depend>humanoid_robot_controller_msgs</build_export_depend>
   <build_export_depend>dynamixel_sdk</build_export_depend>
-  <build_export_depend>robotis_device</build_export_depend>
-  <build_export_depend>robotis_framework_common</build_export_depend>
+  <build_export_depend>humanoid_robot_device</build_export_depend>
+  <build_export_depend>humanoid_robot_framework_common</build_export_depend>
   <build_export_depend>cmake_modules</build_export_depend>
   <build_export_depend>yaml-cpp</build_export_depend>
 
@@ -34,10 +34,10 @@
   <exec_depend>roslib</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>robotis_controller_msgs</exec_depend>
+  <exec_depend>humanoid_robot_controller_msgs</exec_depend>
   <exec_depend>dynamixel_sdk</exec_depend>
-  <exec_depend>robotis_device</exec_depend>
-  <exec_depend>robotis_framework_common</exec_depend>
+  <exec_depend>humanoid_robot_device</exec_depend>
+  <exec_depend>humanoid_robot_framework_common</exec_depend>
   <exec_depend>cmake_modules</exec_depend>
   <exec_depend>yaml-cpp</exec_depend>
 

humanoid_robot_controller/src/humanoid_robot_controller/humanoid_robot_controller.cpp

@@ -15,7 +15,7 @@
 *******************************************************************************/
 
 /*
- * robotis_controller.cpp
+ * humanoid_robot_controller.cpp
  *
  *  Created on: 2016. 1. 15.
  *      Author: zerom
@@ -24,9 +24,9 @@
 #include <ros/package.h>
 #include <ros/callback_queue.h>
 
-#include "robotis_controller/robotis_controller.h"
+#include "humanoid_robot_controller/humanoid_robot_controller.h"
 
-using namespace robotis_framework;
+using namespace humanoid_robot_framework;
 
 RobotisController::RobotisController()
   : is_timer_running_(false),
@@ -39,7 +39,7 @@ RobotisController::RobotisController()
     DEBUG_PRINT(false),
     robot_(0),
     gazebo_mode_(false),
-    gazebo_robot_name_("robotis")
+    gazebo_robot_name_("humanoid_robot")
 {
   direct_sync_write_.clear();
 }
@@ -198,7 +198,7 @@ void RobotisController::initializeSyncWrite()
 
 bool RobotisController::initialize(const std::string robot_file_path, const std::string init_file_path)
 {
-  std::string dev_desc_dir_path = ros::package::getPath("robotis_device") + "/devices";
+  std::string dev_desc_dir_path = ros::package::getPath("humanoid_robot_device") + "/devices";
 
   // load robot info : port , device
   robot_ = new Robot(robot_file_path, dev_desc_dir_path);
@@ -639,19 +639,19 @@ void RobotisController::msgQueueThread()
   ros_node.setCallbackQueue(&callback_queue);
 
   /* subscriber */
-  ros::Subscriber write_control_table_sub = ros_node.subscribe("/robotis/write_control_table", 5,
+  ros::Subscriber write_control_table_sub = ros_node.subscribe("/humanoid_robot/write_control_table", 5,
                                                                &RobotisController::writeControlTableCallback, this);
-  ros::Subscriber sync_write_item_sub     = ros_node.subscribe("/robotis/sync_write_item", 10,
+  ros::Subscriber sync_write_item_sub     = ros_node.subscribe("/humanoid_robot/sync_write_item", 10,
                                                                &RobotisController::syncWriteItemCallback, this);
-  ros::Subscriber joint_ctrl_modules_sub  = ros_node.subscribe("/robotis/set_joint_ctrl_modules", 10,
+  ros::Subscriber joint_ctrl_modules_sub  = ros_node.subscribe("/humanoid_robot/set_joint_ctrl_modules", 10,
                                                                &RobotisController::setJointCtrlModuleCallback, this);
-  ros::Subscriber enable_ctrl_module_sub  = ros_node.subscribe("/robotis/enable_ctrl_module", 10,
+  ros::Subscriber enable_ctrl_module_sub  = ros_node.subscribe("/humanoid_robot/enable_ctrl_module", 10,
                                                                &RobotisController::setCtrlModuleCallback, this);
-  ros::Subscriber control_mode_sub        = ros_node.subscribe("/robotis/set_control_mode", 10,
+  ros::Subscriber control_mode_sub        = ros_node.subscribe("/humanoid_robot/set_control_mode", 10,
                                                                &RobotisController::setControllerModeCallback, this);
-  ros::Subscriber joint_states_sub        = ros_node.subscribe("/robotis/set_joint_states", 10,
+  ros::Subscriber joint_states_sub        = ros_node.subscribe("/humanoid_robot/set_joint_states", 10,
                                                                &RobotisController::setJointStatesCallback, this);
-  ros::Subscriber enable_offset_sub       = ros_node.subscribe("/robotis/enable_offset", 10,
+  ros::Subscriber enable_offset_sub       = ros_node.subscribe("/humanoid_robot/enable_offset", 10,
                                                                &RobotisController::enableOffsetCallback, this);
 
   ros::Subscriber gazebo_joint_states_sub;
@@ -660,10 +660,10 @@ void RobotisController::msgQueueThread()
                                                  &RobotisController::gazeboJointStatesCallback, this);
 
   /* publisher */
-  goal_joint_state_pub_     = ros_node.advertise<sensor_msgs::JointState>("/robotis/goal_joint_states", 10);
-  present_joint_state_pub_  = ros_node.advertise<sensor_msgs::JointState>("/robotis/present_joint_states", 10);
-  current_module_pub_       = ros_node.advertise<robotis_controller_msgs::JointCtrlModule>(
-                                                              "/robotis/present_joint_ctrl_modules", 10);
+  goal_joint_state_pub_     = ros_node.advertise<sensor_msgs::JointState>("/humanoid_robot/goal_joint_states", 10);
+  present_joint_state_pub_  = ros_node.advertise<sensor_msgs::JointState>("/humanoid_robot/present_joint_states", 10);
+  current_module_pub_       = ros_node.advertise<humanoid_robot_controller_msgs::JointCtrlModule>(
+                                                              "/humanoid_robot/present_joint_ctrl_modules", 10);
 
   if (gazebo_mode_ == true)
   {
@@ -679,13 +679,13 @@ void RobotisController::msgQueueThread()
   }
 
   /* service */
-  ros::ServiceServer get_joint_module_server = ros_node.advertiseService("/robotis/get_present_joint_ctrl_modules",
+  ros::ServiceServer get_joint_module_server = ros_node.advertiseService("/humanoid_robot/get_present_joint_ctrl_modules",
                                                         &RobotisController::getJointCtrlModuleService, this);
-  ros::ServiceServer set_joint_module_server = ros_node.advertiseService("/robotis/set_present_joint_ctrl_modules",
+  ros::ServiceServer set_joint_module_server = ros_node.advertiseService("/humanoid_robot/set_present_joint_ctrl_modules",
                                                         &RobotisController::setJointCtrlModuleService, this);
-  ros::ServiceServer set_module_server = ros_node.advertiseService("/robotis/set_present_ctrl_modules",
+  ros::ServiceServer set_module_server = ros_node.advertiseService("/humanoid_robot/set_present_ctrl_modules",
                                                         &RobotisController::setCtrlModuleService, this);
-  ros::ServiceServer load_offset_server = ros_node.advertiseService("/robotis/load_offset",
+  ros::ServiceServer load_offset_server = ros_node.advertiseService("/humanoid_robot/load_offset",
                                                         &RobotisController::loadOffsetService, this);
 
   ros::WallDuration duration(robot_->getControlCycle() / 1000.0);
@@ -1568,7 +1568,7 @@ void RobotisController::removeSensorModule(SensorModule *module)
   sensor_modules_.remove(module);
 }
 
-void RobotisController::writeControlTableCallback(const robotis_controller_msgs::WriteControlTable::ConstPtr &msg)
+void RobotisController::writeControlTableCallback(const humanoid_robot_controller_msgs::WriteControlTable::ConstPtr &msg)
 {
   Device *device = NULL;
 
@@ -1626,7 +1626,7 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
 
 }
 
-void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::SyncWriteItem::ConstPtr &msg)
+void RobotisController::syncWriteItemCallback(const humanoid_robot_controller_msgs::SyncWriteItem::ConstPtr &msg)
 {
   for (int i = 0; i < msg->joint_name.size(); i++)
   {
@@ -1786,7 +1786,7 @@ void RobotisController::setCtrlModule(std::string module_name)
 
   set_module_thread_ = boost::thread(boost::bind(&RobotisController::setCtrlModuleThread, this, module_name));
 }
-void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg)
+void RobotisController::setJointCtrlModuleCallback(const humanoid_robot_controller_msgs::JointCtrlModule::ConstPtr &msg)
 {
   if (msg->joint_name.size() != msg->module_name.size())
     return;
@@ -1806,8 +1806,8 @@ void RobotisController::enableOffsetCallback(const std_msgs::Bool::ConstPtr &msg
     offset_ratio_ = 1.0;  
 }
 
-bool RobotisController::getJointCtrlModuleService(robotis_controller_msgs::GetJointModule::Request &req,
-    robotis_controller_msgs::GetJointModule::Response &res)
+bool RobotisController::getJointCtrlModuleService(humanoid_robot_controller_msgs::GetJointModule::Request &req,
+    humanoid_robot_controller_msgs::GetJointModule::Response &res)
 {
   for (unsigned int idx = 0; idx < req.joint_name.size(); idx++)
   {
@@ -1825,16 +1825,16 @@ bool RobotisController::getJointCtrlModuleService(robotis_controller_msgs::GetJo
   return true;
 }
 
-bool RobotisController::setJointCtrlModuleService(robotis_controller_msgs::SetJointModule::Request &req, robotis_controller_msgs::SetJointModule::Response &res)
+bool RobotisController::setJointCtrlModuleService(humanoid_robot_controller_msgs::SetJointModule::Request &req, humanoid_robot_controller_msgs::SetJointModule::Response &res)
 {
   if(set_module_thread_.joinable())
     set_module_thread_.join();
 
-  robotis_controller_msgs::JointCtrlModule modules;
+  humanoid_robot_controller_msgs::JointCtrlModule modules;
   modules.joint_name = req.joint_name;
   modules.module_name = req.module_name;
 
-  robotis_controller_msgs::JointCtrlModule::ConstPtr msg_ptr(new robotis_controller_msgs::JointCtrlModule(modules));
+  humanoid_robot_controller_msgs::JointCtrlModule::ConstPtr msg_ptr(new humanoid_robot_controller_msgs::JointCtrlModule(modules));
 
   if (modules.joint_name.size() != modules.module_name.size())
     return false;
@@ -1846,7 +1846,7 @@ bool RobotisController::setJointCtrlModuleService(robotis_controller_msgs::SetJo
   return true;
 }
 
-bool RobotisController::setCtrlModuleService(robotis_controller_msgs::SetModule::Request &req, robotis_controller_msgs::SetModule::Response &res)
+bool RobotisController::setCtrlModuleService(humanoid_robot_controller_msgs::SetModule::Request &req, humanoid_robot_controller_msgs::SetModule::Response &res)
 {
   if(set_module_thread_.joinable())
     set_module_thread_.join();
@@ -1861,14 +1861,14 @@ bool RobotisController::setCtrlModuleService(robotis_controller_msgs::SetModule:
   return true;
 }
 
-bool RobotisController::loadOffsetService(robotis_controller_msgs::LoadOffset::Request &req, robotis_controller_msgs::LoadOffset::Response &res)
+bool RobotisController::loadOffsetService(humanoid_robot_controller_msgs::LoadOffset::Request &req, humanoid_robot_controller_msgs::LoadOffset::Response &res)
 {
   loadOffset((std::string)req.file_path);
   res.result = true;
   return true;
 }
 
-void RobotisController::setJointCtrlModuleThread(const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg)
+void RobotisController::setJointCtrlModuleThread(const humanoid_robot_controller_msgs::JointCtrlModule::ConstPtr &msg)
 {
   // stop module list
   std::list<MotionModule *> _stop_modules;
@@ -2047,7 +2047,7 @@ void RobotisController::setJointCtrlModuleThread(const robotis_controller_msgs::
   queue_mutex_.unlock();
 
   // publish current module
-  robotis_controller_msgs::JointCtrlModule _current_module_msg;
+  humanoid_robot_controller_msgs::JointCtrlModule _current_module_msg;
   for(std::map<std::string, Dynamixel *>::iterator _dxl_iter = robot_->dxls_.begin(); _dxl_iter  != robot_->dxls_.end(); ++_dxl_iter)
   {
     _current_module_msg.joint_name.push_back(_dxl_iter->first);
@@ -2263,7 +2263,7 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
   queue_mutex_.unlock();
 
   // publish current module
-  robotis_controller_msgs::JointCtrlModule current_module_msg;
+  humanoid_robot_controller_msgs::JointCtrlModule current_module_msg;
   for (auto& dxl_iter : robot_->dxls_)
   {
     current_module_msg.joint_name.push_back(dxl_iter.first);

humanoid_robot_device/CHANGELOG.rst

@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_device
+Changelog for package humanoid_robot_device
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.3.1 (2023-09-27)
@@ -73,7 +73,7 @@ Changelog for package robotis_device
 * bug fixed (position pid gain & velocity pid gain sync write).
 * added velocity_to_value_ratio to DXL Pro-H series.
 * added velocity p/i/d gain and position i/d gain sync_write code.
-* fixed robotis_device build_depend.
+* fixed humanoid_robot_device build_depend.
 * added XM-430-W210 / XM-430-W350 device file.
 * rename (present_current\_ -> present_torque\_)
 * modified torque control code

humanoid_robot_device/CMakeLists.txt

@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 3.0.2)
-project(robotis_device)
+project(humanoid_robot_device)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies
@@ -29,7 +29,7 @@ find_package(catkin REQUIRED COMPONENTS
 ################################################################################
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES robotis_device
+  LIBRARIES humanoid_robot_device
   CATKIN_DEPENDS 
   roscpp 
   dynamixel_sdk
@@ -43,18 +43,18 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_library(robotis_device
-  src/robotis_device/robot.cpp
-  src/robotis_device/sensor.cpp
-  src/robotis_device/dynamixel.cpp
+add_library(humanoid_robot_device
+  src/humanoid_robot_device/robot.cpp
+  src/humanoid_robot_device/sensor.cpp
+  src/humanoid_robot_device/dynamixel.cpp
 )
-add_dependencies(robotis_device ${catkin_EXPORTED_TARGETS})
-target_link_libraries(robotis_device ${catkin_LIBRARIES})
+add_dependencies(humanoid_robot_device ${catkin_EXPORTED_TARGETS})
+target_link_libraries(humanoid_robot_device ${catkin_LIBRARIES})
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS robotis_device
+install(TARGETS humanoid_robot_device
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

humanoid_robot_device/include/humanoid_robot_device/control_table_item.h

@@ -26,7 +26,7 @@
 
 #include <stdint.h>
 
-namespace robotis_framework {
+namespace humanoid_robot_framework {
 
 enum AccessType { Read, ReadWrite };
 
@@ -49,6 +49,6 @@ public:
         is_signed_(false) {}
 };
 
-} // namespace robotis_framework
+} // namespace humanoid_robot_framework
 
 #endif /* ROBOTIS_DEVICE_CONTROL_TABLE_ITEM_H_ */

humanoid_robot_device/include/humanoid_robot_device/device.h

@@ -31,7 +31,7 @@
 
 #include "control_table_item.h"
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class Device

humanoid_robot_device/include/humanoid_robot_device/dynamixel.h

@@ -33,7 +33,7 @@
 #include "device.h"
 #include "dynamixel_state.h"
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class Dynamixel : public Device

humanoid_robot_device/include/humanoid_robot_device/dynamixel_state.h

@@ -31,7 +31,7 @@
 #define INDIRECT_DATA_1     "indirect_data_1"
 #define INDIRECT_ADDRESS_1  "indirect_address_1"
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class DynamixelState

humanoid_robot_device/include/humanoid_robot_device/robot.h

@@ -43,7 +43,7 @@
 
 #define DEFAULT_CONTROL_CYCLE 8 // milliseconds
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class Robot

humanoid_robot_device/include/humanoid_robot_device/sensor.h

@@ -32,7 +32,7 @@
 #include "sensor_state.h"
 #include "control_table_item.h"
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class Sensor : public Device

humanoid_robot_device/include/humanoid_robot_device/sensor_state.h

@@ -27,7 +27,7 @@
 
 #include "time_stamp.h"
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class SensorState

humanoid_robot_device/include/humanoid_robot_device/time_stamp.h

@@ -25,7 +25,7 @@
 #define ROBOTIS_DEVICE_TIME_STAMP_H_
 
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class TimeStamp {

humanoid_robot_device/package.xml

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>robotis_device</name>
+  <name>humanoid_robot_device</name>
   <version>0.3.0</version>
   <description>
     The package that manages device information of ROBOTIS robots.
     This package is used when reading device information with the robot information file
-    from the robotis_controller package.
+    from the humanoid_robot_controller package.
   </description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

humanoid_robot_device/src/humanoid_robot_device/dynamixel.cpp

@@ -21,9 +21,9 @@
  *      Author: zerom
  */
 
-#include "robotis_device/dynamixel.h"
+#include "humanoid_robot_device/dynamixel.h"
 
-using namespace robotis_framework;
+using namespace humanoid_robot_framework;
 
 Dynamixel::Dynamixel(int id, std::string model_name, float protocol_version)
     : ctrl_module_name_("none"), torque_to_current_value_ratio_(1.0),

humanoid_robot_device/src/humanoid_robot_device/robot.cpp

@@ -25,9 +25,9 @@
 #include <fstream>
 #include <iostream>
 
-#include "robotis_device/robot.h"
+#include "humanoid_robot_device/robot.h"
 
-using namespace robotis_framework;
+using namespace humanoid_robot_framework;
 
 static inline std::string &ltrim(std::string &s) {
   s.erase(s.begin(),

humanoid_robot_device/src/humanoid_robot_device/sensor.cpp

@@ -21,9 +21,9 @@
  *      Author: zerom
  */
 
-#include "robotis_device/sensor.h"
+#include "humanoid_robot_device/sensor.h"
 
-using namespace robotis_framework;
+using namespace humanoid_robot_framework;
 
 Sensor::Sensor(int id, std::string model_name, float protocol_version) {
 

humanoid_robot_framework/CHANGELOG.rst

@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_framework
+Changelog for package humanoid_robot_framework
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.3.1 (2023-09-27)
@@ -45,7 +45,7 @@ Changelog for package robotis_framework
 
 0.2.5 (2017-06-09)
 ------------------
-* updated for yaml-cpp dependencies (robotis_controller)
+* updated for yaml-cpp dependencies (humanoid_robot_controller)
 * Contributors: SCH
 
 0.2.4 (2017-06-07)
@@ -61,7 +61,7 @@ Changelog for package robotis_framework
 0.2.2 (2017-04-24)
 ------------------
 * added a deivce: OpenCR
-* updated robotis_controller.cpp
+* updated humanoid_robot_controller.cpp
 * changed to read control cycle from .robot file
 * Contributors: Zerom, Kayman
 

humanoid_robot_framework/CMakeLists.txt

@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(robotis_framework)
+project(humanoid_robot_framework)
 find_package(catkin REQUIRED)
 catkin_metapackage()

humanoid_robot_framework/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>humanoid_robot_framework</name>
+  <version>0.3.0</version>
+  <description>ROS packages for the humanoid_robot_framework (meta package)</description>
+  <license>Apache 2.0</license>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>humanoid_robot_controller</build_depend>
+  <build_depend>humanoid_robot_device</build_depend>
+  <build_depend>humanoid_robot_framework_common</build_depend>
+
+  <build_export_depend>humanoid_robot_controller</build_export_depend>
+  <build_export_depend>humanoid_robot_device</build_export_depend>
+  <build_export_depend>humanoid_robot_framework_common</build_export_depend>
+
+  <exec_depend>humanoid_robot_controller</exec_depend>
+  <exec_depend>humanoid_robot_device</exec_depend>
+  <exec_depend>humanoid_robot_framework_common</exec_depend>
+
+  <export>
+    <metapackage />
+  </export>
+</package>

humanoid_robot_framework_common/CHANGELOG.rst

@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_framework_common
+Changelog for package humanoid_robot_framework_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.3.1 (2023-09-27)

humanoid_robot_framework_common/CMakeLists.txt

@@ -2,14 +2,14 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 2.8.3)
-project(robotis_framework_common)
+project(humanoid_robot_framework_common)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies
 ################################################################################
 find_package(catkin REQUIRED COMPONENTS
   roscpp
-  robotis_device
+  humanoid_robot_device
 )
 
 ################################################################################
@@ -30,7 +30,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS roscpp robotis_device
+  CATKIN_DEPENDS roscpp humanoid_robot_device
 )
 
 ################################################################################
@@ -51,7 +51,7 @@ set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS robotis_framework_common
+install(TARGETS humanoid_robot_framework_common
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

humanoid_robot_framework_common/include/humanoid_robot_framework_common/motion_module.h

@@ -29,10 +29,10 @@
 #include <string>
 
 #include "singleton.h"
-#include "robotis_device/robot.h"
-#include "robotis_device/dynamixel.h"
+#include "humanoid_robot_device/robot.h"
+#include "humanoid_robot_device/dynamixel.h"
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 enum ControlMode

humanoid_robot_framework_common/include/humanoid_robot_framework_common/sensor_module.h

@@ -29,10 +29,10 @@
 #include <string>
 
 #include "singleton.h"
-#include "robotis_device/robot.h"
-#include "robotis_device/dynamixel.h"
+#include "humanoid_robot_device/robot.h"
+#include "humanoid_robot_device/dynamixel.h"
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 class SensorModule

humanoid_robot_framework_common/include/humanoid_robot_framework_common/singleton.h

@@ -25,7 +25,7 @@
 #define ROBOTIS_FRAMEWORK_COMMON_SINGLETON_H_
 
 
-namespace robotis_framework
+namespace humanoid_robot_framework
 {
 
 template <class T>

humanoid_robot_framework_common/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>robotis_framework_common</name>
+  <name>humanoid_robot_framework_common</name>
   <version>0.2.9</version>
   <description>The package contains commonly used Headers for the ROBOTIS Framework.</description>
   <license>Apache 2.0</license>
@@ -9,12 +9,12 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roscpp</build_depend>
-  <build_depend>robotis_device</build_depend>
+  <build_depend>humanoid_robot_device</build_depend>
 
   <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>robotis_device</build_export_depend>
+  <build_export_depend>humanoid_robot_device</build_export_depend>
 
   <exec_depend>roscpp</exec_depend>
-  <exec_depend>robotis_device</exec_depend>
+  <exec_depend>humanoid_robot_device</exec_depend>
 
 </package>

push.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# Git push what is already in the repository
+git pull --no-edit; git fetch; git add .; git commit -am "latest pushes"; git push

repository_recal.sh

@@ -0,0 +1,110 @@
+#!/bin/bash
+
+# Git push what is already in the repository
+git pull --no-edit; git fetch; git add .; git commit -am "latest pushes"; git push
+
+# Get the current directory
+current_dir=$(pwd)
+
+# Read the remote repository URL from .git/config
+remote_repo_url=$(git -C "$current_dir" config --get remote.origin.url)
+
+# Create a temporary directory for cloning the repository
+temp_dir=$(mktemp -d)
+
+# Clone the repository into the temporary directory without using local references
+git clone --no-local "$current_dir" "$temp_dir"
+
+# Switch to the temporary directory
+cd "$temp_dir"
+
+# Create a temporary file to store the file list
+tmp_file=$(mktemp)
+# Create a temporary file to store the processed commits
+processed_commits_file=$(mktemp)
+
+# Function to check if a commit has already been processed
+is_commit_processed() {
+  local commit="$1"
+
+  # Check if the commit is already processed
+  grep -Fxq "$commit" "$processed_commits_file"
+}
+
+# Function to mark a commit as processed
+mark_commit_processed() {
+  local commit="$1"
+
+  # Mark the commit as processed
+  echo "$commit" >> "$processed_commits_file"
+}
+
+# Function to check if a file or folder exists in the repository
+file_exists_in_repo() {
+  local file_path="$1"
+
+  # Check if the file or folder exists in the repository
+  git ls-tree --name-only -r HEAD | grep -Fxq "$file_path"
+}
+
+# Function to process the files and folders in each commit
+process_commit_files() {
+  local commit="$1"
+
+  # Check if the commit has already been processed
+  if is_commit_processed "$commit"; then
+    echo "Commit $commit already processed. Skipping..."
+    return
+  fi
+
+  # Get the list of files and folders in the commit (including subfolders)
+  git ls-tree --name-only -r "$commit" >> "$tmp_file"
+
+  # Process each file or folder in the commit
+  while IFS= read -r line
+  do
+    # Check if the file or folder exists in the current push
+    if file_exists_in_repo "$line"; then
+      echo "Keeping: $line"
+    else
+      echo "Deleting: $line"
+      git filter-repo --path "$line" --invert-paths
+    fi
+  done < "$tmp_file"
+
+  # Mark the commit as processed
+  mark_commit_processed "$commit"
+
+  # Clear the temporary file
+  > "$tmp_file"
+}
+
+# Iterate over each commit in the repository
+git rev-list --all | while IFS= read -r commit
+do
+  process_commit_files "$commit"
+done
+
+# Push the filtered changes to the original repository
+git remote add origin "$remote_repo_url"
+git push --force origin main
+
+# Perform a history rewrite to remove the filtered files
+git filter-repo --force
+
+# Fetch the changes from the remote repository
+git -C "$current_dir" fetch origin
+
+# Merge the remote changes into the local repository
+git -C "$current_dir" merge origin/main --no-edit
+
+# Update the local repository and reduce the size of .git if needed
+git -C "$current_dir" gc --prune=now
+git -C "$current_dir" reflog expire --expire=now --all
+git -C "$current_dir" repack -ad
+
+# Clean up temporary files and directories
+cd "$current_dir"
+rm -rf "$temp_dir"
+rm "$tmp_file"
+rm "$processed_commits_file"

robotis_framework/package.xml

@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>robotis_framework</name>
-  <version>0.3.0</version>
-  <description>ROS packages for the robotis_framework (meta package)</description>
-  <license>Apache 2.0</license>
-  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>robotis_controller</build_depend>
-  <build_depend>robotis_device</build_depend>
-  <build_depend>robotis_framework_common</build_depend>
-
-  <build_export_depend>robotis_controller</build_export_depend>
-  <build_export_depend>robotis_device</build_export_depend>
-  <build_export_depend>robotis_framework_common</build_export_depend>
-
-  <exec_depend>robotis_controller</exec_depend>
-  <exec_depend>robotis_device</exec_depend>
-  <exec_depend>robotis_framework_common</exec_depend>
-
-  <export>
-    <metapackage />
-  </export>
-</package>