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‎.travis.yml‎

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- ronaldsonbellande@gmail.com
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env:
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matrix:
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- ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".humanoid_robot_framework.rosinstall"
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- 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"
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branches:
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only:
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- master

‎README.md‎

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[![Sponsor](https://img.shields.io/badge/Sponsor-Robotics%20Sensors%20Research-red?style=for-the-badge&logo=github)](https://github.com/sponsors/Robotics-Sensors)
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# Stats
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[![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)
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[![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)
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[![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)
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[![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)
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[![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 watchers](https://img.shields.io/github/watchers/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework.svg?style=social)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/watchers)
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[![GitHub issues](https://img.shields.io/github/issues/Robotics-Sensors/humanoid_robot_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_framework/issues)
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[![GitHub pull requests](https://img.shields.io/github/issues-pr/Robotics-Sensors/humanoid_robot_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_framework/pulls)
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[![GitHub license](https://img.shields.io/github/license/Robotics-Sensors/humanoid_robot_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_framework/blob/main/LICENSE)
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[![GitHub issues](https://img.shields.io/github/issues/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/issues)
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[![GitHub pull requests](https://img.shields.io/github/issues-pr/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/pulls)
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[![GitHub license](https://img.shields.io/github/license/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/blob/main/LICENSE)
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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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[![Visitor & Github Clones](https://img.shields.io/badge/dynamic/json?color=2e8b57&label=Visitor%20%26%20GitHub%20Clones&query=$.count&url=https://api.github.com/repos/Robotics-Sensors/humanoid_robot_framework/traffic)](https://github.com/Robotics-Sensors/humanoid_robot_framework)
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[![GitHub last commit](https://img.shields.io/github/last-commit/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework.svg)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/commits)
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[![Visitor & Github Clones](https://img.shields.io/badge/dynamic/json?color=2e8b57&label=Visitor%20%26%20GitHub%20Clones&query=$.count&url=https://api.github.com/repos/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework/traffic)](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework)
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--------------------------------------------------------------------------------------------------------
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# Repository Website
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https://robotics-sensors.github.io/humanoid_robot_framework
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https://robotics-sensors.github.io/humanoid_robot_intelligence_control_system_framework
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--------------------------------------------------------------------------------------------------------
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Updated Version [humanoid_robot_framework](https://github.com/Robotics-Sensors/humanoid_robot_framework) readme.
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Updated Version [humanoid_robot_intelligence_control_system_framework](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_framework) readme.
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Old Version/Previous Used for Different Context [ROBOTIS-Framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework) readme.
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# Release
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[![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/)
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[![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/)
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# Contact
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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.
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* Ronaldson Bellande
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## License
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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.
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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.

‎humanoid_robot_intelligence_control_system_controller/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package humanoid_robot_intelligence_control_system_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.3.2 (2023-10-03)
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------------------
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* Make it compatible for ROS1/ROS2
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* Fix bugs
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* Update package.xml and CMakeList.txt for to the latest versions
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* Contributors & Maintainer: Ronaldson Bellande
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0.3.1 (2023-09-27)
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------------------
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* Starting from this point it under a new license
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* Fix errors and Issues
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* Rename Repository for a completely different purpose
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* Make it compatible with ROS/ROS2
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* Upgrade version of all builds and make it more compatible
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* Update package.xml and CMakeList.txt for to the latest versions
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* Contributors & Maintainer: Ronaldson Bellande
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0.3.0 (2021-05-03)
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------------------
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* Update package.xml and CMakeList.txt for noetic branch
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* Contributors: Ronaldson Bellande
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0.2.9 (2018-03-22)
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------------------
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* added serivce for setting module
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* deleted comment for debug
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* modified to prevent duplicate indirect address write
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* added boost system dependencies
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* fixed a bug that occure when handling bulk read item that does not exist.
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* Contributors: Kayman, Zerom, Pyo
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0.2.8 (2018-03-20)
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------------------
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* modified CMakeLists.txt for system dependencies (yaml-cpp)
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* Contributors: Zerom, Pyo
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0.2.7 (2018-03-15)
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------------------
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* changed the License and package format to version 2
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* changed all values read by bulk read are saved to dxl_state\_->bulk_read_table\_.
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* Modified to prevent duplicate indirect address write
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* Contributors: SCH, Zerom, Pyo
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0.2.6 (2017-08-09)
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------------------
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* multi thread bug fixed.
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* unnecessary debug print removed.
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* OpenCR control table item name changed. (torque_enable -> dynamixel_power)
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* fixed to not update update_time_stamp\_ if bulk read fails.
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* Contributors: Zerom
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0.2.5 (2017-06-09)
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------------------
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* updated for yaml-cpp dependencies
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* Contributors: SCH
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0.2.4 (2017-06-07)
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------------------
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* added cmake_modules in package.xml
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* Contributors: SCH
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0.2.3 (2017-05-23)
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------------------
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* updated the cmake file for ros install
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* Contributors: SCH
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0.2.2 (2017-04-24)
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------------------
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* updated humanoid_robot_intelligence_control_system_controller.cpp
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* changed to read control cycle from .robot file
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* Contributors: Zerom
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0.2.1 (2016-11-23)
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------------------
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* Merge the changes and update
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* - Direct Control Mode bug fixed.
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* update
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* - added writeControlTableCallback
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* - added WriteControlTable msg callback
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* mode change debugging
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* - optimized cpu usage by spin loop (by astumpf)
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* - humanoid_robot_intelligence_control_system_controller process() : processing order changed.
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* 1st : packet communication
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* 2nd : processing modules
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* - dependencies fixed. (Pull requests `#26 <https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues/26>`_)
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* - make setJointCtrlModuleCallback() to the thread function & improved.
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* - modified dependency problem.
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* - reduce CPU consumption
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* Contributors: Jay Song, Pyo, Zerom, SCH
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0.2.0 (2016-08-31)
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------------------
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* bug fixed (position pid gain & velocity pid gain sync write).
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* added velocity_to_value_ratio to DXL Pro-H series.
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* changed some debug messages.
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* added velocity p/i/d gain and position i/d gain sync_write code.
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* SyncWriteItem bug fixed.
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* add function / modified the code simple (using auto / range based for loop)
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* added XM-430-W210 / XM-430-W350 device file.
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* rename ControlMode(CurrentControl -> TorqueControl)
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* rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_)
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* rename (present_current\_ -> present_torque\_)
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* modified torque control code
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* fixed typos / changed ROS_INFO -> fprintf (for processing speed)
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* startTimer() : after bulkread txpacket(), need some sleep()
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* changed the order of processing in the Process() function.
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* added missing mutex for gazebo
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* fixed crash when running in gazebo simulation
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* sync write bug fix.
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* added position_p_gain sync write
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* MotionModule/SensorModule member variable access changed (public -> protected).
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* Contributors: Jay Song, Zerom, Pyo, SCH
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0.1.1 (2016-08-18)
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------------------
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* updated the package information
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0.1.0 (2016-08-12)
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------------------
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* first public release for Kinetic
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* modified the package information for release
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* develop branch -> master branch
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* function name changed : DeviceInit() -> InitDevice()
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* Fixed high CPU consumption due to busy waits
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* add SensorState
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add Singleton template
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* XM-430 / CM-740 device file added.
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Sensor device added.
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* added code to support the gazebo simulator
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* added first bulk read failure protection code
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* renewal
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* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo

‎humanoid_robot_intelligence_control_system_controller/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(humanoid_robot_intelligence_control_system_controller)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++11)
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if($ENV{ROS_VERSION} EQUAL 1)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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roslib
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std_msgs
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sensor_msgs
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humanoid_robot_intelligence_control_system_controller_msgs
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dynamixel_sdk
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humanoid_robot_intelligence_control_system_device
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humanoid_robot_intelligence_control_system_framework_common
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cmake_modules
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)
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find_package(Boost REQUIRED)
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find_package(PkgConfig REQUIRED)
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else()
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find_package(ament_cmake REQUIRED)
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endif()
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pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
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find_path(YAML_CPP_INCLUDE_DIR
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NAMES yaml_cpp.h
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PATHS ${YAML_CPP_INCLUDE_DIRS}
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)
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find_library(YAML_CPP_LIBRARY
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NAMES YAML_CPP
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PATHS ${YAML_CPP_LIBRARY_DIRS}
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)
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link_directories(${YAML_CPP_LIBRARY_DIRS})
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if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
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add_definitions(-DHAVE_NEW_YAMLCPP)
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endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
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if($ENV{ROS_VERSION} EQUAL 1)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES humanoid_robot_intelligence_control_system_controller
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CATKIN_DEPENDS
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roscpp
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roslib
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std_msgs
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sensor_msgs
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humanoid_robot_intelligence_control_system_controller_msgs
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dynamixel_sdk
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humanoid_robot_intelligence_control_system_device
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humanoid_robot_intelligence_control_system_framework_common
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cmake_modules
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DEPENDS Boost
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)
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endif()
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${YAML_CPP_INCLUDE_DIRS}
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)
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add_library(humanoid_robot_intelligence_control_system_controller src/humanoid_robot_intelligence_control_system_controller/humanoid_robot_intelligence_control_system_controller.cpp)
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add_dependencies(humanoid_robot_intelligence_control_system_controller ${catkin_EXPORTED_TARGETS})
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target_link_libraries(humanoid_robot_intelligence_control_system_controller ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES})
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install(TARGETS humanoid_robot_intelligence_control_system_controller
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)

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