An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.

.. contents::

Hydro

Groovy

As a 3rd party package to ROS we need some extra chores to release. Discussed here. NOTE for 2 different repositories are involved:

• Upstream source repository (fkanehiro/hrpsys-base)
• ROS repository (start-jsk/hrpsys)

Steps:

1. Send a pull request to fkanehiro/hrpsys-base to update a tag in CMakeLists.txt. Example. This way community will decide if we're ready for the next release.
2. Update start-jsk/hrpsys/Makefile.hrpsys-base BEFORE the subsequent steps (otherwise the automation script below won't produce a valid result). Example2.
3. Update start-jsk/hrpsys/CHANGELOG.rst by the following steps.

3-1. Use this script [generate_changelog_upstream_] to copy commit messages from upstream fkanehiro/hrpsys-base. A file should be created under /tmp.

3-2. Summarize commit messages into user-meaningful content (discussion).

3-3. To include updates in ROS repository (start-jsk/hrpsys), add change logs into the one created in 3-2 by following.

 3-3-1. Generate changelog by a command from `catkin`:

 ::

   $ roscd hrpsys
   $ catkin_generate_changelog

 3-3-2. Open a generated/updated `CHANGELOG.rst` file. Then manually merge with the artifact from 3-1.

4. After here follow the normal release manner: Send pull requests for the change above (step 2 and 3). Update tags and package.xml by using catkin_prepare_release.

Notice that we're sending pull requests to two different repositories; one is the source upstream repository that isn't ROS-dependent, another repository is used to release a DEB using ROS infrastructure.

.. _generate_changelog_upstream:

hrpsys consists of resources from two repositories as noted in package.xml. Particularly we need to generate changelog from the upstream repository, which is not covered by a convenient tool in ROS called catkin_generate_changelog (that only takes care of the catkin packages, like start-jsk/hrpsys (where you are now)). For that purpose our custom script create_changelog.sh helps you. To use it:

1. Clone this repository into your catkin workspace if you haven't done so:

 $ cd %CATKIN_WORKSPACE% && cd src
 $ git clone https://github.com/start-jsk/hrpsys.git

2. Run catkin_make.

 $ cd %CATKIN_WORKSPACE%
 $ catkin_make     (this takes minutes depending on your machine power and internet connection)
 $ source devel/setup.bash

3. Run the command create_changelog.sh:

 $ rosrun hrpsys create_changelog.sh

Documentation of RTCs and examples