Overview
This component reads sensors and write commands to actuators.
Hardware dependent parts and common parts
RobotHardware includes two parts: hardware dependent part as iob.h and common part as RobotHardware. When developper want to apply hrpsys-base to new robots or simulators, write hardware dependent part as iob.h and link it with common part RobotHardware.
Sensor data ports
Sensor data ports are based on VRML information and sensor values are assumed to be represented in the sensor local frames.
| implementation_id | RobotHardware |
| category | example |
Data Ports
Input Ports
| port name | data type | unit | description |
| qRef | RTC::TimedDoubleSeq | [rad] | joint angle commands |
Output Ports
Output data ports for gyros, accelerometers and force/torque sensors are created automatically based on information read from a VRML model.
| port name | data type | unit | description |
| q | RTC::TimedDoubleSeq | [rad] | measured joint angles |
| servoState | RTC::TimedLongSeq | [rad] | status of joint servo |
| emergencySignal | RTC::TimedLong | [rad] | Emergency signal |
| name of gyro defined in a VRML model, such as "gyrometer" | RTC::TimedAngularVelocity3D | [rad/s] | angular velocities in the sensor frame |
| name of accelerometer defined in a VRML model, such as "gsensor" | RTC::TimedAcceleration3D | [rad/(s^2)] | acceleration in the sensor frame |
| name of force/torque sensor defined in a VRML model, such as "rhsensor" | RTC::TimedDoubleSeq | [N],[Nm] | force/torque in the sensor frame |
Service Ports
Service Providers
Service Consumers
N/A
Configuration Variables
| key | type | unit | description |
| isDemoMode | int | | 1:demo mode, 0:otherwise. When the robot is in demo mode, joint servo error limits and force limits are not checked. |
| servoErrorLimit | std::vector<double> | [rad] | joint servo error limits. If any servo error exceeds its limit, all joint servos are turned off. When 0 is set, servo error is not checked |
| fzLimitRatio | double<double> | | force limit. If force in Z direction exceeds this limit, all joint servos are turned off. The limit is given by a ratio to weight of the robot. |
Configuration File
| key | type | unit | description |
| model | std::string | | URL of a VRML model |
| sensor_id.right_leg_force_sensor | unsigned int | | ID of a force/torque sensor whose Z force is checked to detect emergency |
| sensor_id.leg_leg_force_sensor | unsigned int | | ID of a force/torque sensor whose Z force is checked to detect emergency |
