yoheikakiuchi/hrpsys repository overview

⁠Install

For Install, See INSTALL⁠

⁠API

For API, See API Doc⁠

⁠Samples

For Samples, See Samples⁠

For related informations:

ROS integration with hrpsys-base ROS wiki hrpsys page⁠

Example case of system configurations is written in the following paper Fig.3: Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, "Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop", 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.381-388, 2015

⁠Directories

Main directories are here (for more information, please see API Doc):

⁠3rdparty

3rd party software installation cmake and settings.

⁠ec

For execution context implementations for real-time linux used for hrpsys-base software.

⁠python/jython

python/jython files.

⁠lib

Library programs which can be used from outside of hrpsys-base. For example, IO libraries.

⁠sample

Sample programs. See Samples.

⁠util

Utilities.

⁠doc

Doxygen files. Substantial documentation files are in each directories such as rtc/XX/XX.txt.

⁠idl

IDL files used for each RTC.

⁠launch

ROS related programs.

⁠test

Test codes including python samples and rostest.

⁠rtc

RT-Component implementations. Basically, one directory corresponds to one RT-Component.