diff --git a/README.md b/README.md
index 3490366..05ad151 100755
--- a/README.md
+++ b/README.md
@@ -1,36 +1,36 @@
# Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System framework
+## 🤖 Explore Humanoid Robot Intelligence with Us!
+Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System architecture repository! Here, we invite you to delve into the fascinating world of humanoid robotics, showcasing the innovative capabilities of our intelligent control system.
+
+
[](https://robotics-sensors.github.io)
[](https://discord.gg/Yc72nd4w)
[](https://github.com/sponsors/Robotics-Sensors)
-## 🤖 Explore Humanoid Robot Intelligence with Us!
-Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System framework repository! Here, we invite you to delve into the fascinating world of humanoid robotics, showcasing the innovative capabilities of our intelligent control system.
+## 📢 Mobile and ROS Control System
+- [](https://github.com/Application-UI-UX/bellande_internal_sensor_mobile_ios_api)
+- [](https://github.com/Application-UI-UX/bellande_external_sensor_mobile_ios_api)
+- [](https://github.com/Application-UI-UX/bellande_functionality_mobile_ios_api)
+- [](https://github.com/Application-UI-UX/bellande_internal_sensor_mobile_android_api)
+- [](https://github.com/Application-UI-UX/bellande_external_sensor_mobile_android_api)
+- [](https://github.com/Application-UI-UX/bellande_functionality_mobile_android_api)
+- [](https://github.com/Application-UI-UX/bellande_internal_sensor_web_api)
+- [](https://github.com/Application-UI-UX/bellande_external_sensor_web_api)
+- [](https://github.com/Application-UI-UX/bellande_functionality_web_api)
+- [](https://github.com/Robotics-Sensors/bellande_functionality_ros_api)
+- [](https://github.com/Robotics-Sensors/bellande_ros_models)
+
## 🔄 Run and Experiment with the build Bellande's Humanoid Robot
-
[](https://github.com/Robotics-Sensors/bellande_humanoid_robotics_package)
-## 📢 Work with Bellande Algorithms and Models through Bellande's API!
-
-[](https://github.com/Robotics-Sensors/Web-ROS-API)
-
----
-
-## 🧑💼 Work with Bellande Models through Bellande Framework!
-
-[](https://github.com/Robotics-Sensors/ROS-MODELS)
-
----
-
## 💻 Functionality To Switch from ROS to ROS2 Checkout The Below Repository
-
-[](https://github.com/Robotics-Sensors/ros_extension/)
+[](https://github.com/Robotics-Sensors/ros_extension)
---
-
### 🚀 Key Repository Stats
-  Starred by the community
@@ -52,15 +52,7 @@ Explore our [repository website](https://robotics-sensors.github.io/bellande_hum
---
-### 🔄 Updates and Versions
-
-- **Updated Version:** [humanoid_robot_intelligence_control_system_module](https://github.com/Robotics-Sensors/bellande_humanoid_robot_intelligence_control_system_framework)
-- **Old Version/Previous Used for Different Context:** [ROBOTIS-Framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework)
-
----
-
# 🎉 Latest Release
-
[](https://github.com/Robotics-Sensors/bellande_humanoid_robot_intelligence_control_system_framework/releases/)
---
@@ -73,7 +65,7 @@ The repository has recently undergone significant updates. Older commits and cod
🚀 For the latest versions and updates, visit our organization: [Robotics-Sensors](https://github.com/Robotics-Sensors).
-### 🧑💼 Maintainer
+### 🧑💼 Maintainer & Author
Meet our dedicated author & maintainer, **Ronaldson Bellande**.
diff --git a/humanoid_robot_intelligence_control_system_controller/CMakeLists.txt b/humanoid_robot_intelligence_control_system_controller/CMakeLists.txt
index e7de26d..4ea5b7e 100644
--- a/humanoid_robot_intelligence_control_system_controller/CMakeLists.txt
+++ b/humanoid_robot_intelligence_control_system_controller/CMakeLists.txt
@@ -37,6 +37,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
catkin_install_python(PROGRAMS
src/PIDController.py
+ src/BellandeController.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
@@ -49,6 +50,7 @@ else()
install(PROGRAMS
src/PIDController.py
+ src/BellandeController.py
DESTINATION lib/${PROJECT_NAME}
)
diff --git a/humanoid_robot_intelligence_control_system_controller/setup.py b/humanoid_robot_intelligence_control_system_controller/setup.py
index cbd6630..5269c92 100644
--- a/humanoid_robot_intelligence_control_system_controller/setup.py
+++ b/humanoid_robot_intelligence_control_system_controller/setup.py
@@ -18,7 +18,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
- scripts=['src/PIDController.py'],
+ scripts=['src/PIDController.py', "src/BellandeController.py"],
packages=['humanoid_robot_intelligence_control_system_controller'],
package_dir={'': 'src'},
)
diff --git a/humanoid_robot_intelligence_control_system_controller/src/BellandeController.py b/humanoid_robot_intelligence_control_system_controller/src/BellandeController.py
new file mode 100644
index 0000000..2496dd5
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_controller/src/BellandeController.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import time
+from typing import Tuple
+
+ros_version = os.getenv("ROS_VERSION")
+
+if ros_version == "1":
+ import rospy
+ from std_msgs.msg import Float64
+elif ros_version == "2":
+ import rclpy
+ from rclpy.node import Node
+ from std_msgs.msg import Float64
+else:
+ raise ValueError("Invalid ROS version. Set ROS_VERSION environment variable to '1' or '2'.")
+
+class BellandeController:
+ def __init__(self, gains: Tuple[float, float, float], name: str, output_limits: Tuple[float, float] = (-float('inf'), float('inf'))):
+ self.kp, self.ki, self.kd = gains
+ self.name = name
+ self.output_limits = output_limits
+ self.reset()
+
+ if ros_version == "1":
+ rospy.init_node('bellande_controller', anonymous=True)
+ self.subscriber = rospy.Subscriber('control_output', Float64, self.callback)
+ elif ros_version == "2":
+ rclpy.init()
+ self.node = Node('bellande_controller')
+ self.subscriber = self.node.create_subscription(Float64, 'control_output', self.callback, 10)
+
+ def reset(self):
+ self.last_error = 0
+ self.integral = 0
+ self.last_time = time.time()
+
+ def update_config(self, gains: Tuple[float, float, float]):
+ self.kp, self.ki, self.kd = gains
+
+ def callback(self, msg):
+ print(f"Received control output: {msg.data}")
+
+ def run(self):
+ if ros_version == "1":
+ rospy.spin()
+ elif ros_version == "2":
+ rclpy.spin(self.node)
+
+ def shutdown(self):
+ if ros_version == "2":
+ self.node.destroy_node()
+ rclpy.shutdown()
diff --git a/humanoid_robot_intelligence_control_system_external_sensors/CMakeLists.txt b/humanoid_robot_intelligence_control_system_external_sensors/CMakeLists.txt
index e7de26d..3314559 100644
--- a/humanoid_robot_intelligence_control_system_external_sensors/CMakeLists.txt
+++ b/humanoid_robot_intelligence_control_system_external_sensors/CMakeLists.txt
@@ -13,7 +13,7 @@
# the License.
cmake_minimum_required(VERSION 3.0.2)
-project(humanoid_robot_intelligence_control_system_controller)
+project(humanoid_robot_intelligence_control_system_external_sensors)
if($ENV{ROS_VERSION} EQUAL 1)
find_package(catkin REQUIRED COMPONENTS
diff --git a/humanoid_robot_intelligence_control_system_external_sensors/package.xml b/humanoid_robot_intelligence_control_system_external_sensors/package.xml
index 0ab0b27..df5cf0c 100644
--- a/humanoid_robot_intelligence_control_system_external_sensors/package.xml
+++ b/humanoid_robot_intelligence_control_system_external_sensors/package.xml
@@ -16,10 +16,10 @@ the License.
-->
- humanoid_robot_intelligence_control_system_controller
+ humanoid_robot_intelligence_control_system_external_sensors
0.0.1
- This Package is for Detection Math
+ This Package is for External Sensors
Apache 2.0
Ronaldson Bellande
diff --git a/humanoid_robot_intelligence_control_system_external_sensors/setup.py b/humanoid_robot_intelligence_control_system_external_sensors/setup.py
index cbd6630..e411a0a 100644
--- a/humanoid_robot_intelligence_control_system_external_sensors/setup.py
+++ b/humanoid_robot_intelligence_control_system_external_sensors/setup.py
@@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
scripts=['src/PIDController.py'],
- packages=['humanoid_robot_intelligence_control_system_controller'],
+ packages=['humanoid_robot_intelligence_control_system_external_sensors'],
package_dir={'': 'src'},
)
diff --git a/humanoid_robot_intelligence_control_system_framework_common/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_framework_common/CHANGELOG.rst
deleted file mode 100755
index 0af7c89..0000000
--- a/humanoid_robot_intelligence_control_system_framework_common/CHANGELOG.rst
+++ /dev/null
@@ -1,82 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package humanoid_robot_intelligence_control_system_framework_common
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.3.2 (2023-10-03)
-------------------
-* Make it compatible for ROS1/ROS2
-* Fix bugs
-* Update package.xml and CMakeList.txt for to the latest versions
-* Contributors & Maintainer: Ronaldson Bellande
-
-0.3.1 (2023-09-27)
-------------------
-* Starting from this point it under a new license
-* Fix errors and Issues
-* Rename Repository for a completely different purpose
-* Make it compatible with ROS/ROS2
-* Upgrade version of all builds and make it more compatible
-* Update package.xml and CMakeList.txt for to the latest versions
-* Contributors & Maintainer: Ronaldson Bellande
-
-0.2.9 (2018-03-22)
-------------------
-* none
-
-0.2.8 (2018-03-20)
-------------------
-* tested for system dependencies
-* Contributors: Pyo
-
-0.2.7 (2018-03-15)
-------------------
-* change the License and package format to version 2
-* Contributors: Pyo
-
-0.2.6 (2017-08-09)
-------------------
-* none
-
-0.2.5 (2017-06-09)
-------------------
-* none
-
-0.2.4 (2017-06-07)
-------------------
-* none
-
-0.2.3 (2017-05-23)
-------------------
-* updated the cmake file for ros install
-* Contributors: SCH
-
-0.2.2 (2017-04-24)
-------------------
-* updated for other packages
-* Contributors: Zerom, Kayman
-
-0.2.1 (2016-11-23)
-------------------
-* Merge the changes and update
-* - dependencies fixed. (Pull requests `#26 `_)
-* - modified dependency problem.
-* Contributors: Jay Song, Pyo, Zerom
-
-0.2.0 (2016-08-31)
-------------------
-* updated CHANGLOG.rst for minor release
-* rename ControlMode(CurrentControl -> TorqueControl)
-* rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_)
-* Contributors: Zerom, Pyo
-
-0.1.1 (2016-08-18)
-------------------
-* updated the package information
-
-0.1.0 (2016-08-12)
-------------------
-* modified the package information for release
-* Setting the license to BSD.
-* add SensorState
- add Singleton template
-* Contributors: Jay Song, Zerom, Pyo
diff --git a/humanoid_robot_intelligence_control_system_framework_common/CMakeLists.txt b/humanoid_robot_intelligence_control_system_framework_common/CMakeLists.txt
deleted file mode 100755
index bc1e839..0000000
--- a/humanoid_robot_intelligence_control_system_framework_common/CMakeLists.txt
+++ /dev/null
@@ -1,60 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-#
-# Licensed under the Apache License, Version 2.0 (the "License"); you may not
-# use this file except in compliance with the License. You may obtain a copy of
-# the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-# License for the specific language governing permissions and limitations under
-# the License.
-
-cmake_minimum_required(VERSION 3.8)
-project(humanoid_robot_intelligence_control_system_framework_common)
-
-
-if($ENV{ROS_VERSION} EQUAL 1)
- find_package(catkin REQUIRED COMPONENTS
- roscpp
- humanoid_robot_intelligence_control_system_device
- )
-else()
- find_package(ament_cmake REQUIRED)
-endif()
-
-
-if($ENV{ROS_VERSION} EQUAL 1)
- catkin_package(
- INCLUDE_DIRS include
- LIBRARIES ${PROJECT_NAME}
- CATKIN_DEPENDS
- roscpp
- humanoid_robot_intelligence_control_system_device
- )
-endif()
-
-
-include_directories(
- include
- ${catkin_INCLUDE_DIRS}
-)
-
-add_library(${PROJECT_NAME}
- include/${PROJECT_NAME}/motion_module.h
- include/${PROJECT_NAME}/sensor_module.h
- include/${PROJECT_NAME}/singleton.h
-)
-set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
-
-install(TARGETS humanoid_robot_intelligence_control_system_framework_common
- ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
- DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
diff --git a/humanoid_robot_intelligence_control_system_framework_common/include/humanoid_robot_intelligence_control_system_framework_common/motion_module.h b/humanoid_robot_intelligence_control_system_framework_common/include/humanoid_robot_intelligence_control_system_framework_common/motion_module.h
deleted file mode 100755
index 9df7326..0000000
--- a/humanoid_robot_intelligence_control_system_framework_common/include/humanoid_robot_intelligence_control_system_framework_common/motion_module.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/*******************************************************************************
-* Copyright 2018 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-* http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-/*
- * motion_module.h
- *
- * Created on: 2016. 1. 15.
- * Author: zerom
- */
-
-#ifndef ROBOTIS_FRAMEWORK_COMMON_MOTION_MODULE_H_
-#define ROBOTIS_FRAMEWORK_COMMON_MOTION_MODULE_H_
-
-
-#include