Overview
Basic RT components and utilities to control robots using OpenRTM
System requirements
ubuntu 10.04LTS is supported.
OpenHRP version 3.1.4 or later is required.
To use jython scripts to create RT components, connect ports and get/set properties, Jython is also required.
To use python scripts to create RT components, connect ports and get/set properties, OpenRTM-aist-python is also required.
Contents of the package
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Jython and CPython library
This library helps to create/delete and activate/deactivate RT components and connect/disconnect ports.
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Basic RT components
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Services provided by basic RT components
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OpenHRP::CollisionDetectorService
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OpenHRP::DataLoggerService
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OpenHRP::ExecutionProfileService
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OpenHRP::ForwardKinematicsService
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OpenHRP::GraspControllerService
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OpenHRP::ImpedanceControllerService
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OpenHRP::OGMap3DService
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OpenHRP::RobotHardwareService
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OpenHRP::SequencePlayerService
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OpenHRP::SeftErrorLimiterService
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OpenHRP::StateHolderService
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OpenHRP::TimeKeeperService
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OpenHRP::WavPlayerService
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Utilities
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IO library
IO library provides a standard access method to the robot hardware. A library in this package just provides its dummy implementation. To control your robot with this package, you need to implement the IO library for your robot.
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Execution Context
This execution context executes RT components in real-time cooperating with the IO library. ART-Linux or Preemptive Kernel of Linux can be used as a real-time OS.
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Eclipse plugin
This plugin extends GrxUI(Graphical User Interface of OpenHRP3) and enables to monitor the robot status on GrxUI communicating with RT components RobotHardware and StateHolder.
How to monitor my robot?
In order to monitor your robot using GrxUI, you need to implement IO library for your robot. Please develop a library which has interface defined in iob.h and replace pre-installed libhrpIo.so with it.
