BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Ronaldson Bellande 2023-11-13 17:55:45 -05:00
parent 12c6272268
commit f64f344184
69 changed files with 2791 additions and 2766 deletions
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2
.travis.yml
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@ -18,7 +18,7 @@ notifications:
- ronaldsonbellande@gmail.com
env:
matrix:
- ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".humanoid_robot_framework.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_framework.rosinstall"
branches:
only:
- master

24
README.md
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@ -5,27 +5,27 @@
[![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_framework.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_framework/stargazers)
[![GitHub forks](https://img.shields.io/github/forks/Robotics-Sensors/humanoid_robot_framework.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_framework/network)
[![GitHub watchers](https://img.shields.io/github/watchers/Robotics-Sensors/humanoid_robot_framework.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_framework/watchers)
[![GitHub stars](https://img.shields.io/github/stars/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/stargazers)
[![GitHub forks](https://img.shields.io/github/forks/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/network)
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[![GitHub last commit](https://img.shields.io/github/last-commit/Robotics-Sensors/humanoid_robot_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_framework/commits)
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--------------------------------------------------------------------------------------------------------
# Repository Website
https://robotics-sensors.github.io/humanoid_robot_framework
https://robotics-sensors.github.io/humanoid_robot_intelligence_control_system_framework
--------------------------------------------------------------------------------------------------------
Updated Version [humanoid_robot_framework](https://github.com/Robotics-Sensors/humanoid_robot_framework) readme.
Updated Version [humanoid_robot_intelligence_control_system_framework](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework) readme.
Old Version/Previous Used for Different Context [ROBOTIS-Framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework) 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_framework/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_framework/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.
@ -48,4 +48,4 @@ 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_framework/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_framework/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_framework/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/blob/main/LICENSE) for more information.

2600
humanoid_robot_controller/src/humanoid_robot_controller/humanoid_robot_controller.cpp
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40
humanoid_robot_framework/package.xml
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@ -1,40 +0,0 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_framework</name>
<version>0.3.2</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 condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_controller</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_device</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_framework_common</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_controller</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_framework_common</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_controller</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_framework_common</exec_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_controller</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_device</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_framework_common</build_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_controller</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_framework_common</build_export_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_controller</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_framework_common</exec_depend>
<export></export>
</package>

6
humanoid_robot_controller/CHANGELOG.rst → humanoid_robot_intelligence_control_system_controller/CHANGELOG.rst
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@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_controller
Changelog for package humanoid_robot_intelligence_control_system_controller
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)
@ -70,7 +70,7 @@ Changelog for package humanoid_robot_controller
0.2.2 (2017-04-24)
------------------
* updated humanoid_robot_controller.cpp
* updated humanoid_robot_intelligence_control_system_controller.cpp
* changed to read control cycle from .robot file
* Contributors: Zerom
@ -83,7 +83,7 @@ Changelog for package humanoid_robot_controller
* - added WriteControlTable msg callback
* mode change debugging
* - optimized cpu usage by spin loop (by astumpf)
* - humanoid_robot_controller process() : processing order changed.
* - humanoid_robot_intelligence_control_system_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>`_)

24
humanoid_robot_controller/CMakeLists.txt → humanoid_robot_intelligence_control_system_controller/CMakeLists.txt
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@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_controller)
project(humanoid_robot_intelligence_control_system_controller)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
@ -11,10 +11,10 @@ if($ENV{ROS_VERSION} EQUAL 1)
roslib
std_msgs
sensor_msgs
humanoid_robot_controller_msgs
humanoid_robot_intelligence_control_system_controller_msgs
dynamixel_sdk
humanoid_robot_device
humanoid_robot_framework_common
humanoid_robot_intelligence_control_system_device
humanoid_robot_intelligence_control_system_framework_common
cmake_modules
)
@ -45,16 +45,16 @@ endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
if($ENV{ROS_VERSION} EQUAL 1)
catkin_package(
INCLUDE_DIRS include
LIBRARIES humanoid_robot_controller
LIBRARIES humanoid_robot_intelligence_control_system_controller
CATKIN_DEPENDS
roscpp
roslib
std_msgs
sensor_msgs
humanoid_robot_controller_msgs
humanoid_robot_intelligence_control_system_controller_msgs
dynamixel_sdk
humanoid_robot_device
humanoid_robot_framework_common
humanoid_robot_intelligence_control_system_device
humanoid_robot_intelligence_control_system_framework_common
cmake_modules
DEPENDS Boost
)
@ -68,11 +68,11 @@ include_directories(
${YAML_CPP_INCLUDE_DIRS}
)
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})
add_library(humanoid_robot_intelligence_control_system_controller src/humanoid_robot_intelligence_control_system_controller/humanoid_robot_intelligence_control_system_controller.cpp)
add_dependencies(humanoid_robot_intelligence_control_system_controller ${catkin_EXPORTED_TARGETS})
target_link_libraries(humanoid_robot_intelligence_control_system_controller ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS humanoid_robot_controller
install(TARGETS humanoid_robot_intelligence_control_system_controller
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

50
humanoid_robot_controller/include/humanoid_robot_controller/humanoid_robot_controller.h → humanoid_robot_intelligence_control_system_controller/include/humanoid_robot_intelligence_control_system_controller/humanoid_robot_intelligence_control_system_controller.h
View File

@ -15,7 +15,7 @@
*******************************************************************************/
/*
* humanoid_robot_controller.h
* humanoid_robot_intelligence_control_system_controller.h
*
* Created on: 2016. 1. 15.
* Author: zerom
@ -32,21 +32,21 @@
#include <std_msgs/String.h>
#include <yaml-cpp/yaml.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 "humanoid_robot_intelligence_control_system_controller_msgs/GetJointModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/JointCtrlModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/LoadOffset.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SetJointModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SetModule.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/SyncWriteItem.h"
#include "humanoid_robot_intelligence_control_system_controller_msgs/WriteControlTable.h"
#include "dynamixel_sdk/group_bulk_read.h"
#include "dynamixel_sdk/group_sync_write.h"
#include "humanoid_robot_device/robot.h"
#include "humanoid_robot_framework_common/motion_module.h"
#include "humanoid_robot_framework_common/sensor_module.h"
#include "humanoid_robot_intelligence_control_system_device/robot.h"
#include "humanoid_robot_intelligence_control_system_framework_common/motion_module.h"
#include "humanoid_robot_intelligence_control_system_framework_common/sensor_module.h"
namespace humanoid_robot_framework {
namespace humanoid_robot_intelligence_control_system_framework {
enum ControllerMode { MotionModuleMode, DirectControlMode };
@ -75,7 +75,7 @@ private:
void msgQueueThread();
void setCtrlModuleThread(std::string ctrl_module);
void setJointCtrlModuleThread(
const humanoid_robot_controller_msgs::JointCtrlModule::ConstPtr &msg);
const humanoid_robot_intelligence_control_system_controller_msgs::JointCtrlModule::ConstPtr &msg);
bool isTimerStopped();
void initializeSyncWrite();
@ -143,27 +143,27 @@ public:
/* ROS Topic Callback Functions */
void writeControlTableCallback(
const humanoid_robot_controller_msgs::WriteControlTable::ConstPtr &msg);
const humanoid_robot_intelligence_control_system_controller_msgs::WriteControlTable::ConstPtr &msg);
void syncWriteItemCallback(
const humanoid_robot_controller_msgs::SyncWriteItem::ConstPtr &msg);
const humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem::ConstPtr &msg);
void setControllerModeCallback(const std_msgs::String::ConstPtr &msg);
void setJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
void setJointCtrlModuleCallback(
const humanoid_robot_controller_msgs::JointCtrlModule::ConstPtr &msg);
const humanoid_robot_intelligence_control_system_controller_msgs::JointCtrlModule::ConstPtr &msg);
void setCtrlModuleCallback(const std_msgs::String::ConstPtr &msg);
void enableOffsetCallback(const std_msgs::Bool::ConstPtr &msg);
bool getJointCtrlModuleService(
humanoid_robot_controller_msgs::GetJointModule::Request &req,
humanoid_robot_controller_msgs::GetJointModule::Response &res);
humanoid_robot_intelligence_control_system_controller_msgs::GetJointModule::Request &req,
humanoid_robot_intelligence_control_system_controller_msgs::GetJointModule::Response &res);
bool setJointCtrlModuleService(
humanoid_robot_controller_msgs::SetJointModule::Request &req,
humanoid_robot_controller_msgs::SetJointModule::Response &res);
humanoid_robot_intelligence_control_system_controller_msgs::SetJointModule::Request &req,
humanoid_robot_intelligence_control_system_controller_msgs::SetJointModule::Response &res);
bool setCtrlModuleService(
humanoid_robot_controller_msgs::SetModule::Request &req,
humanoid_robot_controller_msgs::SetModule::Response &res);
humanoid_robot_intelligence_control_system_controller_msgs::SetModule::Request &req,
humanoid_robot_intelligence_control_system_controller_msgs::SetModule::Response &res);
bool
loadOffsetService(humanoid_robot_controller_msgs::LoadOffset::Request &req,
humanoid_robot_controller_msgs::LoadOffset::Response &res);
loadOffsetService(humanoid_robot_intelligence_control_system_controller_msgs::LoadOffset::Request &req,
humanoid_robot_intelligence_control_system_controller_msgs::LoadOffset::Response &res);
void gazeboJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
@ -204,6 +204,6 @@ public:
uint8_t *data, uint8_t *error = 0);
};
} // namespace humanoid_robot_framework
} // namespace humanoid_robot_intelligence_control_system_framework
#endif /* ROBOTIS_CONTROLLER_ROBOTIS_CONTROLLER_H_ */

40
humanoid_robot_controller/package.xml → humanoid_robot_intelligence_control_system_controller/package.xml
View File

@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_controller</name>
<name>humanoid_robot_intelligence_control_system_controller</name>
<version>0.3.2</version>
<description>humanoid_robot_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series</description>
<description>humanoid_robot_intelligence_control_system_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>
@ -13,10 +13,10 @@
<build_depend condition="$ROS_VERSION == 1">roslib</build_depend>
<build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">dynamixel_sdk</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_device</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_framework_common</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_framework_common</build_depend>
<build_depend condition="$ROS_VERSION == 1">cmake_modules</build_depend>
<build_depend condition="$ROS_VERSION == 1">yaml-cpp</build_depend>
@ -24,10 +24,10 @@
<build_export_depend condition="$ROS_VERSION == 1">roslib</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">sensor_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">dynamixel_sdk</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_framework_common</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_framework_common</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">cmake_modules</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">yaml-cpp</build_export_depend>
@ -35,10 +35,10 @@
<exec_depend condition="$ROS_VERSION == 1">roslib</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">dynamixel_sdk</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_framework_common</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_framework_common</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">cmake_modules</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">yaml-cpp</exec_depend>
@ -49,10 +49,10 @@
<build_depend condition="$ROS_VERSION == 2">roslib</build_depend>
<build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">sensor_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 2">dynamixel_sdk</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_device</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_framework_common</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_framework_common</build_depend>
<build_depend condition="$ROS_VERSION == 2">cmake_modules</build_depend>
<build_depend condition="$ROS_VERSION == 2">yaml-cpp</build_depend>
@ -60,10 +60,10 @@
<build_export_depend condition="$ROS_VERSION == 2">roslib</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">sensor_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller_msgs</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">dynamixel_sdk</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_framework_common</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_framework_common</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">cmake_modules</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">yaml-cpp</build_export_depend>
@ -71,10 +71,10 @@
<exec_depend condition="$ROS_VERSION == 2">roslib</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">sensor_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">dynamixel_sdk</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_framework_common</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_framework_common</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">cmake_modules</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">yaml-cpp</exec_depend>

2625
humanoid_robot_intelligence_control_system_controller/src/humanoid_robot_intelligence_control_system_controller/humanoid_robot_intelligence_control_system_controller.cpp Executable file
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4
humanoid_robot_device/CHANGELOG.rst → humanoid_robot_intelligence_control_system_device/CHANGELOG.rst
View File

@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_device
Changelog for package humanoid_robot_intelligence_control_system_device
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)
@ -79,7 +79,7 @@ Changelog for package humanoid_robot_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 humanoid_robot_device build_depend.
* fixed humanoid_robot_intelligence_control_system_device build_depend.
* added XM-430-W210 / XM-430-W350 device file.
* rename (present_current\_ -> present_torque\_)
* modified torque control code

18
humanoid_robot_device/CMakeLists.txt → humanoid_robot_intelligence_control_system_device/CMakeLists.txt
View File

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_device)
project(humanoid_robot_intelligence_control_system_device)
if($ENV{ROS_VERSION} EQUAL 1)
@ -15,7 +15,7 @@ endif()
if($ENV{ROS_VERSION} EQUAL 1)
catkin_package(
INCLUDE_DIRS include
LIBRARIES humanoid_robot_device
LIBRARIES humanoid_robot_intelligence_control_system_device
CATKIN_DEPENDS
roscpp
dynamixel_sdk
@ -28,15 +28,15 @@ include_directories(
${catkin_INCLUDE_DIRS}
)
add_library(humanoid_robot_device
src/humanoid_robot_device/robot.cpp
src/humanoid_robot_device/sensor.cpp
src/humanoid_robot_device/dynamixel.cpp
add_library(humanoid_robot_intelligence_control_system_device
src/humanoid_robot_intelligence_control_system_device/robot.cpp
src/humanoid_robot_intelligence_control_system_device/sensor.cpp
src/humanoid_robot_intelligence_control_system_device/dynamixel.cpp
)
add_dependencies(humanoid_robot_device ${catkin_EXPORTED_TARGETS})
target_link_libraries(humanoid_robot_device ${catkin_LIBRARIES})
add_dependencies(humanoid_robot_intelligence_control_system_device ${catkin_EXPORTED_TARGETS})
target_link_libraries(humanoid_robot_intelligence_control_system_device ${catkin_LIBRARIES})
install(TARGETS humanoid_robot_device
install(TARGETS humanoid_robot_intelligence_control_system_device
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

0
humanoid_robot_device/devices/dynamixel/GRIPPER.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/GRIPPER.device
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0
humanoid_robot_device/devices/dynamixel/GRIPPER_TORQUE.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/GRIPPER_TORQUE.device
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0
humanoid_robot_device/devices/dynamixel/H42-20-S300-R(A).device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H42-20-S300-R(A).device
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0
humanoid_robot_device/devices/dynamixel/H42-20-S300-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H42-20-S300-R.device
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0
humanoid_robot_device/devices/dynamixel/H42P-020-S300-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H42P-020-S300-R.device
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0
humanoid_robot_device/devices/dynamixel/H54-100-B210-R-NR.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54-100-B210-R-NR.device
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0
humanoid_robot_device/devices/dynamixel/H54-100-S500-R(A).device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54-100-S500-R(A).device
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0
humanoid_robot_device/devices/dynamixel/H54-100-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54-100-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/H54-200-B500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54-200-B500-R.device
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0
humanoid_robot_device/devices/dynamixel/H54-200-S500-R(A).device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54-200-S500-R(A).device
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0
humanoid_robot_device/devices/dynamixel/H54-200-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54-200-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/H54P-100-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54P-100-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/H54P-200-B500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54P-200-B500-R.device
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0
humanoid_robot_device/devices/dynamixel/H54P-200-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/H54P-200-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/L42-10-S300-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/L42-10-S300-R.device
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0
humanoid_robot_device/devices/dynamixel/L54-30-S400-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/L54-30-S400-R.device
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0
humanoid_robot_device/devices/dynamixel/L54-30-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/L54-30-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/L54-50-S290-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/L54-50-S290-R.device
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0
humanoid_robot_device/devices/dynamixel/L54-50-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/L54-50-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/M42-10-S260-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/M42-10-S260-R.device
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0
humanoid_robot_device/devices/dynamixel/M54-40-S250-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/M54-40-S250-R.device
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0
humanoid_robot_device/devices/dynamixel/M54-60-S250-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/M54-60-S250-R.device
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0
humanoid_robot_device/devices/dynamixel/MX-106.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/MX-106.device
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0
humanoid_robot_device/devices/dynamixel/MX-28.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/MX-28.device
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0
humanoid_robot_device/devices/dynamixel/MX-64.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/MX-64.device
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0
humanoid_robot_device/devices/dynamixel/PH42-020-S300-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/PH42-020-S300-R.device
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0
humanoid_robot_device/devices/dynamixel/PH54-100-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/PH54-100-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/PH54-200-S500-R.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/PH54-200-S500-R.device
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0
humanoid_robot_device/devices/dynamixel/RH-P12-RN(A).device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/RH-P12-RN(A).device
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0
humanoid_robot_device/devices/dynamixel/RH-P12-RN.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/RH-P12-RN.device
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0
humanoid_robot_device/devices/dynamixel/XM-430.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/XM-430.device
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0
humanoid_robot_device/devices/dynamixel/XM430-W210.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/XM430-W210.device
View File

0
humanoid_robot_device/devices/dynamixel/XM430-W350.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/XM430-W350.device
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0
humanoid_robot_device/devices/dynamixel/XM540-W150.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/XM540-W150.device
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0
humanoid_robot_device/devices/dynamixel/XM540-W270.device → humanoid_robot_intelligence_control_system_device/devices/dynamixel/XM540-W270.device
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0
humanoid_robot_device/devices/sensor/CM-740.device → humanoid_robot_intelligence_control_system_device/devices/sensor/CM-740.device
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0
humanoid_robot_device/devices/sensor/OPEN-CR.device → humanoid_robot_intelligence_control_system_device/devices/sensor/OPEN-CR.device
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4
humanoid_robot_device/include/humanoid_robot_device/control_table_item.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/control_table_item.h
View File

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

2
humanoid_robot_device/include/humanoid_robot_device/device.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/device.h
View File

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

2
humanoid_robot_device/include/humanoid_robot_device/dynamixel.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/dynamixel.h
View File

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

2
humanoid_robot_device/include/humanoid_robot_device/dynamixel_state.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/dynamixel_state.h
View File

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

2
humanoid_robot_device/include/humanoid_robot_device/robot.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/robot.h
View File

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

2
humanoid_robot_device/include/humanoid_robot_device/sensor.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/sensor.h
View File

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

2
humanoid_robot_device/include/humanoid_robot_device/sensor_state.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/sensor_state.h
View File

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

4
humanoid_robot_device/include/humanoid_robot_device/time_stamp.h → humanoid_robot_intelligence_control_system_device/include/humanoid_robot_intelligence_control_system_device/time_stamp.h
View File

@ -24,7 +24,7 @@
#ifndef ROBOTIS_DEVICE_TIME_STAMP_H_
#define ROBOTIS_DEVICE_TIME_STAMP_H_
namespace humanoid_robot_framework {
namespace humanoid_robot_intelligence_control_system_framework {
class TimeStamp {
public:
@ -34,6 +34,6 @@ public:
TimeStamp(long sec, long nsec) : sec_(sec), nsec_(nsec) {}
};
} // namespace humanoid_robot_framework
} // namespace humanoid_robot_intelligence_control_system_framework
#endif /* ROBOTIS_DEVICE_TIME_STAMP_H_ */

4
humanoid_robot_device/package.xml → humanoid_robot_intelligence_control_system_device/package.xml
View File

@ -1,11 +1,11 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_device</name>
<name>humanoid_robot_intelligence_control_system_device</name>
<version>0.3.2</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 humanoid_robot_controller package.
from the humanoid_robot_intelligence_control_system_controller package.
</description>
<license>Apache 2.0</license>

4
humanoid_robot_device/src/humanoid_robot_device/dynamixel.cpp → humanoid_robot_intelligence_control_system_device/src/humanoid_robot_intelligence_control_system_device/dynamixel.cpp
View File

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

4
humanoid_robot_device/src/humanoid_robot_device/robot.cpp → humanoid_robot_intelligence_control_system_device/src/humanoid_robot_intelligence_control_system_device/robot.cpp
View File

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

4
humanoid_robot_device/src/humanoid_robot_device/sensor.cpp → humanoid_robot_intelligence_control_system_device/src/humanoid_robot_intelligence_control_system_device/sensor.cpp
View File

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

6
humanoid_robot_framework/CHANGELOG.rst → humanoid_robot_intelligence_control_system_framework/CHANGELOG.rst
View File

@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_framework
Changelog for package humanoid_robot_intelligence_control_system_framework
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)
@ -52,7 +52,7 @@ Changelog for package humanoid_robot_framework
0.2.5 (2017-06-09)
------------------
* updated for yaml-cpp dependencies (humanoid_robot_controller)
* updated for yaml-cpp dependencies (humanoid_robot_intelligence_control_system_controller)
* Contributors: SCH
0.2.4 (2017-06-07)
@ -68,7 +68,7 @@ Changelog for package humanoid_robot_framework
0.2.2 (2017-04-24)
------------------
* added a deivce: OpenCR
* updated humanoid_robot_controller.cpp
* updated humanoid_robot_intelligence_control_system_controller.cpp
* changed to read control cycle from .robot file
* Contributors: Zerom, Kayman

2
humanoid_robot_framework/CMakeLists.txt → humanoid_robot_intelligence_control_system_framework/CMakeLists.txt
View File

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_framework)
project(humanoid_robot_intelligence_control_system_framework)
if($ENV{ROS_VERSION} EQUAL 1)
find_package(catkin REQUIRED)

40
humanoid_robot_intelligence_control_system_framework/package.xml Executable file
View File

@ -0,0 +1,40 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_intelligence_control_system_framework</name>
<version>0.3.2</version>
<description>ROS packages for the humanoid_robot_intelligence_control_system_framework (meta package)</description>
<license>Apache 2.0</license>
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_framework_common</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_framework_common</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_controller</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_framework_common</exec_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_framework_common</build_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_framework_common</build_export_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_controller</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_framework_common</exec_depend>
<export></export>
</package>

2
humanoid_robot_framework_common/CHANGELOG.rst → humanoid_robot_intelligence_control_system_framework_common/CHANGELOG.rst
View File

@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package humanoid_robot_framework_common
Changelog for package humanoid_robot_intelligence_control_system_framework_common
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.3.2 (2023-10-03)

8
humanoid_robot_framework_common/CMakeLists.txt → humanoid_robot_intelligence_control_system_framework_common/CMakeLists.txt
View File

@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_framework_common)
project(humanoid_robot_intelligence_control_system_framework_common)
if($ENV{ROS_VERSION} EQUAL 1)
find_package(catkin REQUIRED COMPONENTS
roscpp
humanoid_robot_device
humanoid_robot_intelligence_control_system_device
)
else()
find_package(ament_cmake REQUIRED)
@ -18,7 +18,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
roscpp
humanoid_robot_device
humanoid_robot_intelligence_control_system_device
)
endif()
@ -35,7 +35,7 @@ add_library(${PROJECT_NAME}
)
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
install(TARGETS humanoid_robot_framework_common
install(TARGETS humanoid_robot_intelligence_control_system_framework_common
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

6
humanoid_robot_framework_common/include/humanoid_robot_framework_common/motion_module.h → humanoid_robot_intelligence_control_system_framework_common/include/humanoid_robot_intelligence_control_system_framework_common/motion_module.h
View File

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

6
humanoid_robot_framework_common/include/humanoid_robot_framework_common/sensor_module.h → humanoid_robot_intelligence_control_system_framework_common/include/humanoid_robot_intelligence_control_system_framework_common/sensor_module.h
View File

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

2
humanoid_robot_framework_common/include/humanoid_robot_framework_common/singleton.h → humanoid_robot_intelligence_control_system_framework_common/include/humanoid_robot_intelligence_control_system_framework_common/singleton.h
View File

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

16
humanoid_robot_framework_common/package.xml → humanoid_robot_intelligence_control_system_framework_common/package.xml
View File

@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>humanoid_robot_framework_common</name>
<name>humanoid_robot_intelligence_control_system_framework_common</name>
<version>0.3.2</version>
<description>The package contains commonly used headers for the humanoid_robot_framework</description>
<description>The package contains commonly used headers for the humanoid_robot_intelligence_control_system_framework</description>
<license>Apache 2.0</license>
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
@ -10,24 +10,24 @@
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_device</build_depend>
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</build_depend>
<build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</build_export_depend>
<exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</exec_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<build_depend condition="$ROS_VERSION == 2">roscpp</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_device</build_depend>
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</build_depend>
<build_export_depend condition="$ROS_VERSION == 2">roscpp</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_device</build_export_depend>
<build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</build_export_depend>
<exec_depend condition="$ROS_VERSION == 2">roscpp</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_device</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</exec_depend>
</package>