hrpsys_ros_bridge¶

Message types¶

• hrpsys_ros_bridge/SDOPackage_Monitoring
• hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_Profile
• hrpsys_ros_bridge/OpenHRP_OGMap3DService
• hrpsys_ros_bridge/RTC_Fsm
• hrpsys_ros_bridge/RTC_FsmObject
• hrpsys_ros_bridge/OpenHRP_TorqueFilterService
• hrpsys_ros_bridge/RTC_FsmParticipantAction
• hrpsys_ros_bridge/RTC_LightweightRTObject
• hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_forcemomentOffsetParam
• hrpsys_ros_bridge/OpenHRP_StabilizerService_SupportPolygonVertices
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_SupportLegState
• hrpsys_ros_bridge/RTC_TimedDoubleSeq
• hrpsys_ros_bridge/OpenHRP_CollisionDetectorService
• hrpsys_ros_bridge/OpenHRP_StabilizerService
• hrpsys_ros_bridge/RTC_MultiModeObject
• hrpsys_ros_bridge/RTC_PortService
• hrpsys_ros_bridge/OpenHRP_SoftErrorLimiterService
• hrpsys_ros_bridge/OpenHRP_StabilizerService_EmergencyCheckMode
• hrpsys_ros_bridge/RTC_ModeCapable
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_DetectorMode
• hrpsys_ros_bridge/OpenHRP_StateHolderService_Command
• hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService
• hrpsys_ros_bridge/SDOPackage_Organization
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep
• hrpsys_ros_bridge/OpenHRP_ServoControllerService
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_StepParams
• hrpsys_ros_bridge/OpenHRP_KalmanFilterService_KFAlgorithm
• hrpsys_ros_bridge/OpenHRP_DataLoggerService
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_interpolationMode
• hrpsys_ros_bridge/RTC_DataFlowComponent
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_FootstepParam
• hrpsys_ros_bridge/OpenHRP_StabilizerService_ControllerMode
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_RobotState2
• hrpsys_ros_bridge/RTC_Mode
• hrpsys_ros_bridge/OpenHRP_NullService
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_OrbitType
• hrpsys_ros_bridge/ContactStateStamped
• hrpsys_ros_bridge/ContactStatesStamped
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_BatteryState
• hrpsys_ros_bridge/OpenHRP_ThermoLimiterService
• hrpsys_ros_bridge/OpenHRP_OGMap3D
• hrpsys_ros_bridge/RTC_Size3D
• hrpsys_ros_bridge/RTC_MultiModeComponentAction
• hrpsys_ros_bridge/MotorStates
• hrpsys_ros_bridge/RTC_ComponentAction
• hrpsys_ros_bridge/OpenHRP_EmergencyStopperService
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_objectTurnaroundDetectorParam
• hrpsys_ros_bridge/OpenHRP_TimeKeeperService
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footsteps
• hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService
• hrpsys_ros_bridge/SDOPackage_Configuration
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService
• hrpsys_ros_bridge/OpenHRP_KalmanFilterService_KalmanFilterParam
• hrpsys_ros_bridge/OpenHRP_VirtualForceSensorService
• hrpsys_ros_bridge/Img_CameraCaptureService
• hrpsys_ros_bridge/RTC_DataFlowComponentAction
• hrpsys_ros_bridge/SDOPackage_SDOSystemElement
• hrpsys_ros_bridge/OpenHRP_StateHolderService
• hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_ComponentProfile
• hrpsys_ros_bridge/OpenHRP_StabilizerService_stParam
• hrpsys_ros_bridge/OpenHRP_AABB
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_RobotState
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_AutoBalancerParam
• hrpsys_ros_bridge/OpenHRP_ThermoLimiterService_tlParam
• hrpsys_ros_bridge/RTC_ExecutionContextService
• hrpsys_ros_bridge/OpenRTM_DataFlowComponent
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_impedanceParam
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_ControllerMode
• hrpsys_ros_bridge/OpenHRP_StabilizerService_TwoDimensionVertex
• hrpsys_ros_bridge/OpenHRP_WavPlayerService
• hrpsys_ros_bridge/OpenHRP_KalmanFilterService
• hrpsys_ros_bridge/RTC_ExecutionContext
• hrpsys_ros_bridge/OpenHRP_ExecutionProfileService
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_SwitchStatus
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService
• hrpsys_ros_bridge/RTC_FsmParticipant
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_GaitGeneratorParam
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_UseForceMode
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_torqueControllerParam
• hrpsys_ros_bridge/OpenRTM_ExtTrigExecutionContextService
• hrpsys_ros_bridge/SDOPackage_SDOService
• hrpsys_ros_bridge/OpenHRP_GraspControllerService
• hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_EmergencyStopperParam
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_ControllerMode
• hrpsys_ros_bridge/RTC_Point3D
• hrpsys_ros_bridge/OpenHRP_StabilizerService_STAlgorithm
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_StepParam
• hrpsys_ros_bridge/RTC_Time
• hrpsys_ros_bridge/SDOPackage_SDO
• hrpsys_ros_bridge/RTC_RTObject
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService
• hrpsys_ros_bridge/RTC_FsmService
• hrpsys_ros_bridge/ContactState
• hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_CollisionState
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService

hrpsys_ros_bridge/SDOPackage_Monitoring¶

hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_Profile¶

Field:	max_period (float64) – min_period (float64) – avg_period (float64) – max_process (float64) – profiles[] (hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_ComponentProfile) – count (int32) – timeover (int32) –

float64 max_period
float64 min_period
float64 avg_period
float64 max_process
OpenHRP_ExecutionProfileService_ComponentProfile[] profiles
int32 count
int32 timeover

hrpsys_ros_bridge/OpenHRP_OGMap3DService¶

hrpsys_ros_bridge/RTC_Fsm¶

hrpsys_ros_bridge/RTC_FsmObject¶

hrpsys_ros_bridge/OpenHRP_TorqueFilterService¶

hrpsys_ros_bridge/RTC_FsmParticipantAction¶

hrpsys_ros_bridge/RTC_LightweightRTObject¶

hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_forcemomentOffsetParam¶

Field:	force_offset[3] (float64) – moment_offset[3] (float64) – link_offset_centroid[3] (float64) – link_offset_mass (float64) –

float64[3] force_offset
float64[3] moment_offset
float64[3] link_offset_centroid
float64 link_offset_mass

hrpsys_ros_bridge/OpenHRP_StabilizerService_SupportPolygonVertices¶

Field:	vertices[] (hrpsys_ros_bridge/OpenHRP_StabilizerService_TwoDimensionVertex) –

OpenHRP_StabilizerService_TwoDimensionVertex[] vertices

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_SupportLegState¶

Constant:	RLEG (int64):0 – LLEG (int64):1 – BOTH (int64):2 –

int64 RLEG=0
int64 LLEG=1
int64 BOTH=2

hrpsys_ros_bridge/RTC_TimedDoubleSeq¶

Field:	tm (hrpsys_ros_bridge/RTC_Time) – data[] (float64) –

RTC_Time tm
float64[] data

hrpsys_ros_bridge/OpenHRP_CollisionDetectorService¶

hrpsys_ros_bridge/OpenHRP_StabilizerService¶

hrpsys_ros_bridge/RTC_MultiModeObject¶

hrpsys_ros_bridge/RTC_PortService¶

hrpsys_ros_bridge/OpenHRP_SoftErrorLimiterService¶

hrpsys_ros_bridge/OpenHRP_StabilizerService_EmergencyCheckMode¶

Constant:	NO_CHECK (int64):0 – COP (int64):1 – CP (int64):2 –

int64 NO_CHECK=0
int64 COP=1
int64 CP=2

hrpsys_ros_bridge/RTC_ModeCapable¶

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_DetectorMode¶

Constant:	MODE_DETECTOR_IDLE (int64):0 – MODE_STARTED (int64):1 – MODE_DETECTED (int64):2 – MODE_MAX_TIME (int64):3 –

int64 MODE_DETECTOR_IDLE=0
int64 MODE_STARTED=1
int64 MODE_DETECTED=2
int64 MODE_MAX_TIME=3

hrpsys_ros_bridge/OpenHRP_StateHolderService_Command¶

Field:	jointRefs[] (float64) – baseTransform[] (float64) – zmp[] (float64) –

float64[] jointRefs
float64[] baseTransform
float64[] zmp

hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService¶

hrpsys_ros_bridge/SDOPackage_Organization¶

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep¶

Field:	pos[3] (float64) – rot[4] (float64) – leg (string) –

float64[3] pos
float64[4] rot
string leg

hrpsys_ros_bridge/OpenHRP_ServoControllerService¶

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_StepParams¶

Field:	sps[] (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_StepParam) –

OpenHRP_AutoBalancerService_StepParam[] sps

hrpsys_ros_bridge/OpenHRP_KalmanFilterService_KFAlgorithm¶

Constant:	RPYKalmanFilter (int64):0 – QuaternionExtendedKalmanFilter (int64):1 –

int64 RPYKalmanFilter=0
int64 QuaternionExtendedKalmanFilter=1

hrpsys_ros_bridge/OpenHRP_DataLoggerService¶

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_interpolationMode¶

Constant:	LINEAR (int64):0 – HOFFARBIB (int64):1 –

int64 LINEAR=0
int64 HOFFARBIB=1

hrpsys_ros_bridge/RTC_DataFlowComponent¶

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_FootstepParam¶

Field:

rleg_coords (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – lleg_coords (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – support_leg_coords (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – swing_leg_coords (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – swing_leg_src_coords (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – swing_leg_dst_coords (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – dst_foot_midcoords (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – support_leg (int64) – support_leg_with_both (int64) –

OpenHRP_AutoBalancerService_Footstep rleg_coords
OpenHRP_AutoBalancerService_Footstep lleg_coords
OpenHRP_AutoBalancerService_Footstep support_leg_coords
OpenHRP_AutoBalancerService_Footstep swing_leg_coords
OpenHRP_AutoBalancerService_Footstep swing_leg_src_coords
OpenHRP_AutoBalancerService_Footstep swing_leg_dst_coords
OpenHRP_AutoBalancerService_Footstep dst_foot_midcoords
int64 support_leg
int64 support_leg_with_both

hrpsys_ros_bridge/OpenHRP_StabilizerService_ControllerMode¶

Constant:	MODE_IDLE (int64):0 – MODE_AIR (int64):1 – MODE_ST (int64):2 – MODE_SYNC_TO_IDLE (int64):3 – MODE_SYNC_TO_AIR (int64):4 –

int64 MODE_IDLE=0
int64 MODE_AIR=1
int64 MODE_ST=2
int64 MODE_SYNC_TO_IDLE=3
int64 MODE_SYNC_TO_AIR=4

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_RobotState2¶

Field:	angle[] (float64) – command[] (float64) – torque[] (float64) – servoState (std_msgs/Int32MultiArray) – force (std_msgs/Float64MultiArray) – rateGyro (std_msgs/Float64MultiArray) – accel (std_msgs/Float64MultiArray) – batteries[] (hrpsys_ros_bridge/OpenHRP_RobotHardwareService_BatteryState) – voltage (float64) – current (float64) – temperature[] (float64) –

float64[] angle
float64[] command
float64[] torque
std_msgs/Int32MultiArray servoState
std_msgs/Float64MultiArray force
std_msgs/Float64MultiArray rateGyro
std_msgs/Float64MultiArray accel
OpenHRP_RobotHardwareService_BatteryState[] batteries
float64 voltage
float64 current
float64[] temperature

hrpsys_ros_bridge/RTC_Mode¶

hrpsys_ros_bridge/OpenHRP_NullService¶

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_OrbitType¶

Constant:	SHUFFLING (int64):0 – CYCLOID (int64):1 – RECTANGLE (int64):2 – STAIR (int64):3 – CYCLOIDDELAY (int64):4 – CYCLOIDDELAYKICK (int64):5 – CROSS (int64):6 –

int64 SHUFFLING=0
int64 CYCLOID=1
int64 RECTANGLE=2
int64 STAIR=3
int64 CYCLOIDDELAY=4
int64 CYCLOIDDELAYKICK=5
int64 CROSS=6

hrpsys_ros_bridge/ContactStateStamped¶

Field:	header (std_msgs/Header) – state (hrpsys_ros_bridge/ContactState) –

Header header

ContactState state

hrpsys_ros_bridge/ContactStatesStamped¶

Field:	header (std_msgs/Header) – states[] (hrpsys_ros_bridge/ContactStateStamped) –

Header header

ContactStateStamped[] states

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_BatteryState¶

Field:	voltage (float64) – current (float64) – soc (float64) –

float64 voltage
float64 current
float64 soc

hrpsys_ros_bridge/OpenHRP_ThermoLimiterService¶

hrpsys_ros_bridge/OpenHRP_OGMap3D¶

Field:	resolution (float64) – pos (hrpsys_ros_bridge/RTC_Point3D) – nx (int16) – ny (int16) – nz (int16) – cells[] (uint8) –

float64 resolution
RTC_Point3D pos
int16 nx
int16 ny
int16 nz
uint8[] cells

hrpsys_ros_bridge/RTC_Size3D¶

Field:	l (float64) – w (float64) – h (float64) –

float64 l
float64 w
float64 h

hrpsys_ros_bridge/RTC_MultiModeComponentAction¶

hrpsys_ros_bridge/MotorStates¶

Field:	header (std_msgs/Header) – name[] (string) – calib_state[] (bool) – servo_state[] (bool) – power_state[] (bool) – servo_alarm[] (int32) – driver_temp[] (int16) – temperature[] (float64) – extra_data (std_msgs/Float64MultiArray) –

This is a message that holds data to describe the state of a set of motors.

The state of each motor is defined by:

• the temperatur of the motor (Celsius),

Each motor is uniquely identified by its name The header specifies the time at which the motor states were recorded. All the motor states in one message have to be recorded at the same time.

This message consists of a multiple arrays, one for each part of the motor state. The goal is to make each of the fields optional. When e.g. your motors have no effort associated with them, you can leave the effort array empty.

All arrays in this message should have the same size, or be empty. This is the only way to uniquely associate the motor name with the correct states.

hrpsys/idl/RobotHardwareService.idl

interface RobotHardwareService {

const unsigned long CALIB_STATE_MASK = 0x00000001; const unsigned long CALIB_STATE_SHIFT = 0; const unsigned long SERVO_STATE_MASK = 0x00000002; const unsigned long SERVO_STATE_SHIFT = 1; const unsigned long POWER_STATE_MASK = 0x00000004; const unsigned long POWER_STATE_SHIFT = 2; const unsigned long SERVO_ALARM_MASK = 0x0007fff8; const unsigned long SERVO_ALARM_SHIFT = 3; const unsigned long DRIVER_TEMP_MASK = 0xff000000; const unsigned long DRIVER_TEMP_SHIFT = 24;

# This is a message that holds data to describe the state of a set of motors. 
#
# The state of each motor is defined by:
#  * the temperatur of the motor (Celsius),
#
# Each motor is uniquely identified by its name
# The header specifies the time at which the motor states were recorded. All the motor states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the motor state. 
# The goal is to make each of the fields optional. When e.g. your motors have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the motor name with the correct states.

# hrpsys/idl/RobotHardwareService.idl
#
#   interface RobotHardwareService
#   {
#     const unsigned long CALIB_STATE_MASK = 0x00000001;
#     const unsigned long CALIB_STATE_SHIFT = 0;
#     const unsigned long SERVO_STATE_MASK = 0x00000002;
#     const unsigned long SERVO_STATE_SHIFT = 1;
#     const unsigned long POWER_STATE_MASK = 0x00000004;
#     const unsigned long POWER_STATE_SHIFT = 2;
#     const unsigned long SERVO_ALARM_MASK = 0x0007fff8;
#     const unsigned long SERVO_ALARM_SHIFT = 3;
#     const unsigned long DRIVER_TEMP_MASK = 0xff000000;
#     const unsigned long DRIVER_TEMP_SHIFT = 24;

Header header

string[] name
bool[] calib_state
bool[] servo_state
bool[] power_state
int32[] servo_alarm
int16[] driver_temp
float64[] temperature
std_msgs/Float64MultiArray extra_data

hrpsys_ros_bridge/RTC_ComponentAction¶

hrpsys_ros_bridge/OpenHRP_EmergencyStopperService¶

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_objectTurnaroundDetectorParam¶

Field:	wrench_cutoff_freq (float64) – dwrench_cutoff_freq (float64) – detect_ratio_thre (float64) – start_ratio_thre (float64) – detect_time_thre (float64) – start_time_thre (float64) – axis[3] (float64) –

float64 wrench_cutoff_freq
float64 dwrench_cutoff_freq
float64 detect_ratio_thre
float64 start_ratio_thre
float64 detect_time_thre
float64 start_time_thre
float64[3] axis

hrpsys_ros_bridge/OpenHRP_TimeKeeperService¶

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footsteps¶

Field:	fs[] (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) –

OpenHRP_AutoBalancerService_Footstep[] fs

hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService¶

hrpsys_ros_bridge/SDOPackage_Configuration¶

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService¶

hrpsys_ros_bridge/OpenHRP_KalmanFilterService_KalmanFilterParam¶

Field:	Q_angle (float64) – Q_rate (float64) – R_angle (float64) – kf_algorithm (int64) – acc_offset[3] (float64) – sensorRPY_offset[3] (float64) –

float64 Q_angle
float64 Q_rate
float64 R_angle
int64 kf_algorithm
float64[3] acc_offset
float64[3] sensorRPY_offset

hrpsys_ros_bridge/OpenHRP_VirtualForceSensorService¶

hrpsys_ros_bridge/Img_CameraCaptureService¶

hrpsys_ros_bridge/RTC_DataFlowComponentAction¶

hrpsys_ros_bridge/SDOPackage_SDOSystemElement¶

hrpsys_ros_bridge/OpenHRP_StateHolderService¶

hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_ComponentProfile¶

Field:	count (int32) – max_process (float64) – avg_process (float64) –

int32 count
float64 max_process
float64 avg_process

hrpsys_ros_bridge/OpenHRP_StabilizerService_stParam¶

Field:

k_tpcc_p[2] (float64) – k_tpcc_x[2] (float64) – k_brot_p[2] (float64) – k_brot_tc[2] (float64) – eefm_k1[2] (float64) – eefm_k2[2] (float64) – eefm_k3[2] (float64) – eefm_zmp_delay_time_const[2] (float64) – eefm_ref_zmp_aux[2] (float64) – eefm_rot_damping_gain (std_msgs/Float64MultiArray) – eefm_rot_time_const (std_msgs/Float64MultiArray) – eefm_pos_damping_gain (std_msgs/Float64MultiArray) – eefm_pos_time_const_support (std_msgs/Float64MultiArray) – eefm_pos_compensation_limit[] (float64) – eefm_rot_compensation_limit[] (float64) – eefm_pos_time_const_swing (float64) – eefm_pos_transition_time (float64) – eefm_pos_margin_time (float64) – eefm_leg_inside_margin (float64) – eefm_leg_outside_margin (float64) – eefm_leg_front_margin (float64) – eefm_leg_rear_margin (float64) – eefm_body_attitude_control_gain[2] (float64) – eefm_body_attitude_control_time_const[2] (float64) – eefm_cogvel_cutoff_freq (float64) – eefm_wrench_alpha_blending (float64) – eefm_alpha_cutoff_freq (float64) – eefm_gravitational_acceleration (float64) – eefm_ee_pos_error_p_gain (float64) – eefm_ee_rot_error_p_gain (float64) – eefm_ee_error_cutoff_freq (float64) – eefm_support_polygon_vertices_sequence[] (hrpsys_ros_bridge/OpenHRP_StabilizerService_SupportPolygonVertices) – eefm_use_force_difference_control (bool) – st_algorithm (int64) – controller_mode (int64) – transition_time (float64) – is_ik_enable[] (bool) – is_feedback_control_enable[] (bool) – is_zmp_calc_enable[] (bool) – cop_check_margin (float64) – cp_check_margin[4] (float64) – ref_capture_point[2] (float64) – act_capture_point[2] (float64) – contact_decision_threshold (float64) – foot_origin_offset (std_msgs/Float64MultiArray) – emergency_check_mode (int64) – end_effector_list[] (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – is_estop_while_walking (bool) –

float64[2] k_tpcc_p
float64[2] k_tpcc_x
float64[2] k_brot_p
float64[2] k_brot_tc
float64[2] eefm_k1
float64[2] eefm_k2
float64[2] eefm_k3
float64[2] eefm_zmp_delay_time_const
float64[2] eefm_ref_zmp_aux
std_msgs/Float64MultiArray eefm_rot_damping_gain
std_msgs/Float64MultiArray eefm_rot_time_const
std_msgs/Float64MultiArray eefm_pos_damping_gain
std_msgs/Float64MultiArray eefm_pos_time_const_support
float64[] eefm_pos_compensation_limit
float64[] eefm_rot_compensation_limit
float64 eefm_pos_time_const_swing
float64 eefm_pos_transition_time
float64 eefm_pos_margin_time
float64 eefm_leg_inside_margin
float64 eefm_leg_outside_margin
float64 eefm_leg_front_margin
float64 eefm_leg_rear_margin
float64[2] eefm_body_attitude_control_gain
float64[2] eefm_body_attitude_control_time_const
float64 eefm_cogvel_cutoff_freq
float64 eefm_wrench_alpha_blending
float64 eefm_alpha_cutoff_freq
float64 eefm_gravitational_acceleration
float64 eefm_ee_pos_error_p_gain
float64 eefm_ee_rot_error_p_gain
float64 eefm_ee_error_cutoff_freq
OpenHRP_StabilizerService_SupportPolygonVertices[] eefm_support_polygon_vertices_sequence
bool eefm_use_force_difference_control
int64 st_algorithm
int64 controller_mode
float64 transition_time
bool[] is_ik_enable
bool[] is_feedback_control_enable
bool[] is_zmp_calc_enable
float64 cop_check_margin
float64[4] cp_check_margin
float64[2] ref_capture_point
float64[2] act_capture_point
float64 contact_decision_threshold
std_msgs/Float64MultiArray foot_origin_offset
int64 emergency_check_mode
OpenHRP_AutoBalancerService_Footstep[] end_effector_list
bool is_estop_while_walking

hrpsys_ros_bridge/OpenHRP_AABB¶

Field:	pos (hrpsys_ros_bridge/RTC_Point3D) – size (hrpsys_ros_bridge/RTC_Size3D) –

RTC_Point3D pos
RTC_Size3D size

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_RobotState¶

Field:	angle[] (float64) – command[] (float64) – torque[] (float64) – servoState (std_msgs/Int32MultiArray) – force (std_msgs/Float64MultiArray) – rateGyro (std_msgs/Float64MultiArray) – accel (std_msgs/Float64MultiArray) – voltage (float64) – current (float64) –

float64[] angle
float64[] command
float64[] torque
std_msgs/Int32MultiArray servoState
std_msgs/Float64MultiArray force
std_msgs/Float64MultiArray rateGyro
std_msgs/Float64MultiArray accel
float64 voltage
float64 current

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_AutoBalancerParam¶

Field:

default_zmp_offsets (std_msgs/Float64MultiArray) – move_base_gain (float64) – controller_mode (int64) – use_force_mode (int64) – graspless_manip_mode (bool) – graspless_manip_arm (string) – graspless_manip_p_gain[3] (float64) – graspless_manip_reference_trans_pos[3] (float64) – graspless_manip_reference_trans_rot[4] (float64) – transition_time (float64) – zmp_transition_time (float64) – adjust_footstep_transition_time (float64) – leg_names[] (string) – has_ik_failed (bool) – pos_ik_thre (float64) – rot_ik_thre (float64) – is_hand_fix_mode (bool) – end_effector_list[] (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) –

std_msgs/Float64MultiArray default_zmp_offsets
float64 move_base_gain
int64 controller_mode
int64 use_force_mode
bool graspless_manip_mode
string graspless_manip_arm
float64[3] graspless_manip_p_gain
float64[3] graspless_manip_reference_trans_pos
float64[4] graspless_manip_reference_trans_rot
float64 transition_time
float64 zmp_transition_time
float64 adjust_footstep_transition_time
string[] leg_names
bool has_ik_failed
float64 pos_ik_thre
float64 rot_ik_thre
bool is_hand_fix_mode
OpenHRP_AutoBalancerService_Footstep[] end_effector_list

hrpsys_ros_bridge/OpenHRP_ThermoLimiterService_tlParam¶

Field:	debug_print_freq (uint32) – alarmRatio (float64) –

uint32 debug_print_freq
float64 alarmRatio

hrpsys_ros_bridge/RTC_ExecutionContextService¶

hrpsys_ros_bridge/OpenRTM_DataFlowComponent¶

hrpsys_ros_bridge/OpenHRP_RobotHardwareService¶

Constant:	CALIB_STATE_MASK (uint32):1 – CALIB_STATE_SHIFT (uint32):0 – SERVO_STATE_MASK (uint32):2 – SERVO_STATE_SHIFT (uint32):1 – POWER_STATE_MASK (uint32):4 – POWER_STATE_SHIFT (uint32):2 – SERVO_ALARM_MASK (uint32):524280 – SERVO_ALARM_SHIFT (uint32):3 – DRIVER_TEMP_MASK (uint32):4278190080 – DRIVER_TEMP_SHIFT (uint32):24 –

uint32 CALIB_STATE_MASK=1
uint32 CALIB_STATE_SHIFT=0
uint32 SERVO_STATE_MASK=2
uint32 SERVO_STATE_SHIFT=1
uint32 POWER_STATE_MASK=4
uint32 POWER_STATE_SHIFT=2
uint32 SERVO_ALARM_MASK=524280
uint32 SERVO_ALARM_SHIFT=3
uint32 DRIVER_TEMP_MASK=4278190080
uint32 DRIVER_TEMP_SHIFT=24

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_impedanceParam¶

Field:	M_p (float64) – D_p (float64) – K_p (float64) – M_r (float64) – D_r (float64) – K_r (float64) – force_gain[3] (float64) – moment_gain[3] (float64) – sr_gain (float64) – avoid_gain (float64) – reference_gain (float64) – manipulability_limit (float64) – controller_mode (int64) – ik_optional_weight_vector[] (float64) – use_sh_base_pos_rpy (bool) –

float64 M_p
float64 D_p
float64 K_p
float64 M_r
float64 D_r
float64 K_r
float64[3] force_gain
float64[3] moment_gain
float64 sr_gain
float64 avoid_gain
float64 reference_gain
float64 manipulability_limit
int64 controller_mode
float64[] ik_optional_weight_vector
bool use_sh_base_pos_rpy

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_ControllerMode¶

Constant:	MODE_IDLE (int64):0 – MODE_IMP (int64):1 –

int64 MODE_IDLE=0
int64 MODE_IMP=1

hrpsys_ros_bridge/OpenHRP_StabilizerService_TwoDimensionVertex¶

Field:	pos[2] (float64) –

float64[2] pos

hrpsys_ros_bridge/OpenHRP_WavPlayerService¶

hrpsys_ros_bridge/OpenHRP_KalmanFilterService¶

hrpsys_ros_bridge/RTC_ExecutionContext¶

hrpsys_ros_bridge/OpenHRP_ExecutionProfileService¶

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_SwitchStatus¶

Constant:	SWITCH_ON (int64):0 – SWITCH_OFF (int64):1 –

int64 SWITCH_ON=0
int64 SWITCH_OFF=1

hrpsys_ros_bridge/OpenHRP_AutoBalancerService¶

hrpsys_ros_bridge/RTC_FsmParticipant¶

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_GaitGeneratorParam¶

Field:

default_step_time (float64) – default_step_height (float64) – default_double_support_ratio (float64) – default_double_support_ratio_before (float64) – default_double_support_ratio_after (float64) – default_double_support_static_ratio (float64) – default_double_support_static_ratio_before (float64) – default_double_support_static_ratio_after (float64) – default_double_support_ratio_swing_before (float64) – default_double_support_ratio_swing_after (float64) – stride_parameter[4] (float64) – default_orbit_type (int64) – swing_trajectory_delay_time_offset (float64) – swing_trajectory_final_distance_weight (float64) – stair_trajectory_way_point_offset[3] (float64) – cycloid_delay_kick_point_offset[3] (float64) – gravitational_acceleration (float64) – toe_pos_offset_x (float64) – heel_pos_offset_x (float64) – toe_zmp_offset_x (float64) – heel_zmp_offset_x (float64) – toe_angle (float64) – heel_angle (float64) – toe_heel_phase_ratio[] (float64) – use_toe_joint (bool) – use_toe_heel_transition (bool) – zmp_weight_map[4] (float64) – leg_default_translate_pos (std_msgs/Float64MultiArray) – optional_go_pos_finalize_footstep_num (int32) –

float64 default_step_time
float64 default_step_height
float64 default_double_support_ratio
float64 default_double_support_ratio_before
float64 default_double_support_ratio_after
float64 default_double_support_static_ratio
float64 default_double_support_static_ratio_before
float64 default_double_support_static_ratio_after
float64 default_double_support_ratio_swing_before
float64 default_double_support_ratio_swing_after
float64[4] stride_parameter
int64 default_orbit_type
float64 swing_trajectory_delay_time_offset
float64 swing_trajectory_final_distance_weight
float64[3] stair_trajectory_way_point_offset
float64[3] cycloid_delay_kick_point_offset
float64 gravitational_acceleration
float64 toe_pos_offset_x
float64 heel_pos_offset_x
float64 toe_zmp_offset_x
float64 heel_zmp_offset_x
float64 toe_angle
float64 heel_angle
float64[] toe_heel_phase_ratio
bool use_toe_joint
bool use_toe_heel_transition
float64[4] zmp_weight_map
std_msgs/Float64MultiArray leg_default_translate_pos
int32 optional_go_pos_finalize_footstep_num

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_UseForceMode¶

Constant:	MODE_NO_FORCE (int64):0 – MODE_REF_FORCE (int64):1 –

int64 MODE_NO_FORCE=0
int64 MODE_REF_FORCE=1

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_torqueControllerParam¶

Field:	name (string) – tc (float64) – ke (float64) – kd (float64) – ki (float64) – alpha (float64) – beta (float64) –

string name
float64 tc
float64 ke
float64 kd
float64 ki
float64 alpha
float64 beta

hrpsys_ros_bridge/OpenRTM_ExtTrigExecutionContextService¶

hrpsys_ros_bridge/SDOPackage_SDOService¶

hrpsys_ros_bridge/OpenHRP_GraspControllerService¶

hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_EmergencyStopperParam¶

Field:	default_recover_time (float64) – default_retrieve_time (float64) – is_stop_mode (bool) –

float64 default_recover_time
float64 default_retrieve_time
bool is_stop_mode

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_ControllerMode¶

Constant:	MODE_IDLE (int64):0 – MODE_ABC (int64):1 – MODE_SYNC_TO_IDLE (int64):2 – MODE_SYNC_TO_ABC (int64):3 –

int64 MODE_IDLE=0
int64 MODE_ABC=1
int64 MODE_SYNC_TO_IDLE=2
int64 MODE_SYNC_TO_ABC=3

hrpsys_ros_bridge/RTC_Point3D¶

Field:	x (float64) – y (float64) – z (float64) –

float64 x
float64 y
float64 z

hrpsys_ros_bridge/OpenHRP_StabilizerService_STAlgorithm¶

Constant:	TPCC (int64):0 – EEFM (int64):1 – EEFMQP (int64):2 – EEFMQPCOP (int64):3 –

int64 TPCC=0
int64 EEFM=1
int64 EEFMQP=2
int64 EEFMQPCOP=3

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_StepParam¶

Field:	step_height (float64) – step_time (float64) – toe_angle (float64) – heel_angle (float64) –

float64 step_height
float64 step_time
float64 toe_angle
float64 heel_angle

hrpsys_ros_bridge/RTC_Time¶

Field:	sec (uint32) – nsec (uint32) –

uint32 sec
uint32 nsec

hrpsys_ros_bridge/SDOPackage_SDO¶

hrpsys_ros_bridge/RTC_RTObject¶

hrpsys_ros_bridge/OpenHRP_TorqueControllerService¶

hrpsys_ros_bridge/RTC_FsmService¶

hrpsys_ros_bridge/ContactState¶

Constant:	OFF (uint8):0 – ON (uint8):1 –
Field:	state (uint8) – remaining_time (float64) –

uint8 OFF=0
uint8 ON=1
uint8 state
float64 remaining_time

hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_CollisionState¶

Field:	time (float64) – computation_time (float64) – safe_posture (bool) – recover_time (float64) – loop_for_check (int16) – angle[] (float64) – collide[] (bool) – lines (std_msgs/Float64MultiArray) –

float64 time
float64 computation_time
bool safe_posture
float64 recover_time
int16 loop_for_check
float64[] angle
bool[] collide
std_msgs/Float64MultiArray lines

hrpsys_ros_bridge/OpenHRP_SequencePlayerService¶

Service types¶

• hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService_getReferencePose
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getSpeed
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setInterpolationMode
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_setReset
• hrpsys_ros_bridge/OpenHRP_SoftErrorLimiterService_setServoErrorLimit
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_readDigitalInput
• hrpsys_ros_bridge/OpenHRP_StateHolderService_goActual
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setBasePos
• hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_getProfile
• hrpsys_ros_bridge/OpenHRP_NullService_echo
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_enableMultipleTorqueControllers
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_setFootStepsWithParam
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_servoOff
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequenceFull
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_setServoErrorLimit
• hrpsys_ros_bridge/Img_CameraCaptureService_start_continuous
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_enableTorqueController
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_getStatus
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_stopImpedanceController
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_setObjectTurnaroundDetectorParam
• hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_getEmergencyStopperParam
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_getObjectForcesMoments
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_waitFootStepsEarly
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getTorque
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getTemperature
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clearJointAnglesOfGroup
• hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_enableCollisionDetection
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_stopMultipleTorqueControls
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_startAutoBalancer
• hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_getForceMomentOffsetParam
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_setGaitGeneratorParam
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getVoltage
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getMaxTorque
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_goStop
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_readDigitalOutput
• hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_resetProfile
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_playPatternOfGroup
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_waitInterpolationOfGroup
• hrpsys_ros_bridge/OpenHRP_DataLoggerService_add
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_getGaitGeneratorParam
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_lengthDigitalInput
• hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_setEmergencyStopperParam
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_setAutoBalancerParam
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_playPattern
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequence
• hrpsys_ros_bridge/OpenHRP_WavPlayerService_playWav
• hrpsys_ros_bridge/OpenHRP_StabilizerService_setParameter
• hrpsys_ros_bridge/OpenHRP_StabilizerService_stopStabilizer
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_startTorqueControl
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAngle
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_servo
• hrpsys_ros_bridge/OpenHRP_DataLoggerService_clear
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_lengthDigitalOutput
• hrpsys_ros_bridge/OpenHRP_OGMap3DService_save
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_disableMultipleTorqueControllers
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_setMultipleReferenceTorques
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequenceOfGroup
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_loadPattern
• hrpsys_ros_bridge/Img_CameraCaptureService_stop_continuous
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clearNoWait
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setMaxIKIteration
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_calibrateInertiaSensor
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_stopTorqueControl
• hrpsys_ros_bridge/OpenHRP_KalmanFilterService_setKalmanFilterParam
• hrpsys_ros_bridge/OpenHRP_TorqueFilterService_dummy
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_addJointGroup
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_goPos
• hrpsys_ros_bridge/Img_CameraCaptureService_take_one_frame
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_writeDigitalOutputWithMask
• hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_loadForceMomentOffsetParams
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_writeDigitalOutput
• hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_stopMotion
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_adjustFootSteps
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_removeJointGroup
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_waitImpedanceControllerTransition
• hrpsys_ros_bridge/OpenHRP_GraspControllerService_stopGrasp
• hrpsys_ros_bridge/OpenHRP_StateHolderService_getCommand
• hrpsys_ros_bridge/OpenHRP_StabilizerService_startStabilizer
• hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService_selectBaseLink
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_setJointAngles
• hrpsys_ros_bridge/OpenHRP_GraspControllerService_startGrasp
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_getRemainingFootstepSequence
• hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_getComponentProfile
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setMaxIKError
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_getImpedanceControllerParam
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_checkObjectTurnaroundDetection
• hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_releaseMotion
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clear
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setInitialState
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_setImpedanceControllerParam
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesOfGroup
• hrpsys_ros_bridge/OpenHRP_TimeKeeperService_sleep
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_goVelocity
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_removeJointGroup
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setBaseRpy
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_getStatus2
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_stopImpedanceControllerNoWait
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_getAutoBalancerParam
• hrpsys_ros_bridge/OpenHRP_WavPlayerService_playWavNoWait
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_addJointGroup
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequenceWithMask
• hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_disableCollisionDetection
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setTargetPose
• hrpsys_ros_bridge/OpenHRP_StabilizerService_getParameter
• hrpsys_ros_bridge/OpenHRP_ThermoLimiterService_getParameter
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_isEmpty
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getJointAngle
• hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_setForceMomentOffsetParam
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_power
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setZmp
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesWithMask
• hrpsys_ros_bridge/OpenHRP_VirtualForceSensorService_removeVirtualForceSensorOffset
• hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService_getCurrentPose
• hrpsys_ros_bridge/OpenHRP_DataLoggerService_save
• hrpsys_ros_bridge/OpenHRP_StabilizerService_dummy
• hrpsys_ros_bridge/OpenHRP_OGMap3DService_clear
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_getObjectTurnaroundDetectorParam
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_setJointAnglesOfGroup
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_stopAutoBalancer
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_setTorqueControllerParam
• hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService_getRelativeCurrentPosition
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_setReferenceTorque
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_waitInterpolation
• hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_getCollisionStatus
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_startImpedanceController
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_setFootSteps
• hrpsys_ros_bridge/OpenHRP_KalmanFilterService_getKalmanFilterParam
• hrpsys_ros_bridge/SetSensorTransformation
• hrpsys_ros_bridge/OpenHRP_OGMap3DService_getOGMap3D
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getDuration
• hrpsys_ros_bridge/OpenHRP_KalmanFilterService_resetKalmanFilterState
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_setServoGainPercentage
• hrpsys_ros_bridge/OpenHRP_ThermoLimiterService_setParameter
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_addJointGroup
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_emergencyStop
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_waitFootSteps
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_initializeJointAngle
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_releaseEmergencyStop
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_servoOn
• hrpsys_ros_bridge/OpenHRP_RobotHardwareService_removeForceSensorOffset
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clearJointAngles
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clearOfGroup
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_startImpedanceControllerNoWait
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setWrenches
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_setMaxTorque
• hrpsys_ros_bridge/OpenHRP_DataLoggerService_maxLength
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_setJointAngle
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_disableTorqueController
• hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAngles
• hrpsys_ros_bridge/OpenHRP_AutoBalancerService_getFootstepParam
• hrpsys_ros_bridge/OpenHRP_TorqueControllerService_startMultipleTorqueControls
• hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_dumpForceMomentOffsetParams
• hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_startObjectTurnaroundDetection
• hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_setTolerance
• hrpsys_ros_bridge/OpenHRP_ServoControllerService_getJointAngles

hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService_getReferencePose¶

Field (Request):
	linkname (string) –
Field (Response):
	operation_return (bool) – pose (hrpsys_ros_bridge/RTC_TimedDoubleSeq) –

string linkname
---
bool operation_return
RTC_TimedDoubleSeq pose

hrpsys_ros_bridge/OpenHRP_ServoControllerService_getSpeed¶

Field (Request):
	id (int16) –
Field (Response):
	operation_return (bool) – speed (float64) –

int16 id
---
bool operation_return
float64 speed

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setInterpolationMode¶

Field (Request):
	i_mode (int64) –
Field (Response):
	operation_return (bool) –

int64 i_mode_
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ServoControllerService_setReset¶

Field (Request):
	id (int16) –
Field (Response):
	operation_return (bool) –

int16 id
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SoftErrorLimiterService_setServoErrorLimit¶

Field (Request):
	name (string) – limit (float64) –

string name
float64 limit
---

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_readDigitalInput¶

Field (Response):
	operation_return (bool) – din[] (uint8) –

---
bool operation_return
uint8[] din

hrpsys_ros_bridge/OpenHRP_StateHolderService_goActual¶

---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setBasePos¶

Field (Request):
	pos[] (float64) – tm (float64) –
Field (Response):
	operation_return (bool) –

float64[] pos
float64 tm
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_getProfile¶

Field (Response):
	operation_return (hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_Profile) –

---
OpenHRP_ExecutionProfileService_Profile operation_return

hrpsys_ros_bridge/OpenHRP_NullService_echo¶

Field (Request):
	msg (string) –

string msg
---

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_enableMultipleTorqueControllers¶

Field (Request):
	jnames[] (string) –
Field (Response):
	operation_return (bool) –

string[] jnames
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_setFootStepsWithParam¶

Field (Request):
	fss[] (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footsteps) – spss[] (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_StepParams) – overwrite_fs_idx (int32) –
Field (Response):
	operation_return (bool) –

OpenHRP_AutoBalancerService_Footsteps[] fss
OpenHRP_AutoBalancerService_StepParams[] spss
int32 overwrite_fs_idx
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ServoControllerService_servoOff¶

Field (Response):
	operation_return (bool) –

---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequenceFull¶

Field (Request):
	jvss (std_msgs/Float64MultiArray) – vels (std_msgs/Float64MultiArray) – torques (std_msgs/Float64MultiArray) – poss (std_msgs/Float64MultiArray) – rpys (std_msgs/Float64MultiArray) – accs (std_msgs/Float64MultiArray) – zmps (std_msgs/Float64MultiArray) – wrenchs (std_msgs/Float64MultiArray) – optionals (std_msgs/Float64MultiArray) – tms[] (float64) –
Field (Response):
	operation_return (bool) –

std_msgs/Float64MultiArray jvss
std_msgs/Float64MultiArray vels
std_msgs/Float64MultiArray torques
std_msgs/Float64MultiArray poss
std_msgs/Float64MultiArray rpys
std_msgs/Float64MultiArray accs
std_msgs/Float64MultiArray zmps
std_msgs/Float64MultiArray wrenchs
std_msgs/Float64MultiArray optionals
float64[] tms
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_setServoErrorLimit¶

Field (Request):
	name (string) – limit (float64) –

string name
float64 limit
---

hrpsys_ros_bridge/Img_CameraCaptureService_start_continuous¶

---

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_enableTorqueController¶

Field (Request):
	jname (string) –
Field (Response):
	operation_return (bool) –

string jname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_getStatus¶

Field (Response):
	rs (hrpsys_ros_bridge/OpenHRP_RobotHardwareService_RobotState) –

---
OpenHRP_RobotHardwareService_RobotState rs

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_stopImpedanceController¶

Field (Request):
	name (string) –
Field (Response):
	operation_return (bool) –

string name
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_setObjectTurnaroundDetectorParam¶

Field (Request):
	i_param (hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_objectTurnaroundDetectorParam) –
Field (Response):
	operation_return (bool) –

OpenHRP_ImpedanceControllerService_objectTurnaroundDetectorParam i_param
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_getEmergencyStopperParam¶

Field (Response):
	operation_return (bool) – i_param (hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_EmergencyStopperParam) –

---
bool operation_return
OpenHRP_EmergencyStopperService_EmergencyStopperParam i_param

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_getObjectForcesMoments¶

Field (Response):
	operation_return (bool) – o_forces (std_msgs/Float64MultiArray) – o_moments (std_msgs/Float64MultiArray) –

---
bool operation_return
std_msgs/Float64MultiArray o_forces
std_msgs/Float64MultiArray o_moments

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_waitFootStepsEarly¶

Field (Request):
	tm (float64) –

float64 tm
---

hrpsys_ros_bridge/OpenHRP_ServoControllerService_getTorque¶

Field (Request):
	id (int16) –
Field (Response):
	operation_return (bool) – torque (float64) –

int16 id
---
bool operation_return
float64 torque

hrpsys_ros_bridge/OpenHRP_ServoControllerService_getTemperature¶

Field (Request):
	id (int16) –
Field (Response):
	operation_return (bool) – temperature (float64) –

int16 id
---
bool operation_return
float64 temperature

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clearJointAnglesOfGroup¶

Field (Request):
	gname (string) –
Field (Response):
	operation_return (bool) –

string gname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_enableCollisionDetection¶

Field (Response):
	operation_return (bool) –

---
bool operation_return

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_stopMultipleTorqueControls¶

Field (Request):
	jnames[] (string) –
Field (Response):
	operation_return (bool) –

string[] jnames
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_startAutoBalancer¶

Field (Request):
	limbs[] (string) –
Field (Response):
	operation_return (bool) –

string[] limbs
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_getForceMomentOffsetParam¶

Field (Request):
	name (string) –
Field (Response):
	operation_return (bool) – i_param (hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_forcemomentOffsetParam) –

string name
---
bool operation_return
OpenHRP_RemoveForceSensorLinkOffsetService_forcemomentOffsetParam i_param

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_setGaitGeneratorParam¶

Field (Request):
	i_param (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_GaitGeneratorParam) –
Field (Response):
	operation_return (bool) –

OpenHRP_AutoBalancerService_GaitGeneratorParam i_param
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ServoControllerService_getVoltage¶

Field (Request):
	id (int16) –
Field (Response):
	operation_return (bool) – voltage (float64) –

int16 id
---
bool operation_return
float64 voltage

hrpsys_ros_bridge/OpenHRP_ServoControllerService_getMaxTorque¶

Field (Request):
	id (int16) –
Field (Response):
	operation_return (bool) – percentage (int16) –

int16 id
---
bool operation_return
int16 percentage

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_goStop¶

Field (Response):
	operation_return (bool) –

---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_readDigitalOutput¶

Field (Response):
	operation_return (bool) – dOut[] (uint8) –

---
bool operation_return
uint8[] dOut

hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_resetProfile¶

---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_playPatternOfGroup¶

Field (Request):
	gname (string) – pos (std_msgs/Float64MultiArray) – tm[] (float64) –
Field (Response):
	operation_return (bool) –

string gname
std_msgs/Float64MultiArray pos
float64[] tm
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_waitInterpolationOfGroup¶

Field (Request):
	gname (string) –
Field (Response):
	operation_return (bool) –

string gname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_DataLoggerService_add¶

Field (Request):
	type (string) – name (string) –
Field (Response):
	operation_return (bool) –

string type
string name
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_getGaitGeneratorParam¶

Field (Response):
	operation_return (bool) – i_param (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_GaitGeneratorParam) –

---
bool operation_return
OpenHRP_AutoBalancerService_GaitGeneratorParam i_param

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_lengthDigitalInput¶

Field (Response):
	operation_return (int32) –

---
int32 operation_return

hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_setEmergencyStopperParam¶

Field (Request):
	i_param (hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_EmergencyStopperParam) –
Field (Response):
	operation_return (bool) –

OpenHRP_EmergencyStopperService_EmergencyStopperParam i_param
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_setAutoBalancerParam¶

Field (Request):
	i_param (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_AutoBalancerParam) –
Field (Response):
	operation_return (bool) –

OpenHRP_AutoBalancerService_AutoBalancerParam i_param
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_playPattern¶

Field (Request):
	pos (std_msgs/Float64MultiArray) – rpy (std_msgs/Float64MultiArray) – zmp (std_msgs/Float64MultiArray) – tm[] (float64) –

std_msgs/Float64MultiArray pos
std_msgs/Float64MultiArray rpy
std_msgs/Float64MultiArray zmp
float64[] tm
---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequence¶

Field (Request):
	jvss (std_msgs/Float64MultiArray) – tms[] (float64) –
Field (Response):
	operation_return (bool) –

std_msgs/Float64MultiArray jvss
float64[] tms
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_WavPlayerService_playWav¶

Field (Request):
	wavfile (string) –

string wavfile
---

hrpsys_ros_bridge/OpenHRP_StabilizerService_setParameter¶

Field (Request):
	i_param (hrpsys_ros_bridge/OpenHRP_StabilizerService_stParam) –

OpenHRP_StabilizerService_stParam i_param
---

hrpsys_ros_bridge/OpenHRP_StabilizerService_stopStabilizer¶

---

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_startTorqueControl¶

Field (Request):
	jname (string) –
Field (Response):
	operation_return (bool) –

string jname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAngle¶

Field (Request):
	jname (string) – jv (float64) – tm (float64) –
Field (Response):
	operation_return (bool) –

string jname
float64 jv
float64 tm
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_servo¶

Field (Request):
	name (string) – ss (int64) –
Field (Response):
	operation_return (bool) –

string name
int64 ss
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_DataLoggerService_clear¶

Field (Response):
	operation_return (bool) –

---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_lengthDigitalOutput¶

Field (Response):
	operation_return (int32) –

---
int32 operation_return

hrpsys_ros_bridge/OpenHRP_OGMap3DService_save¶

Field (Request):
	filename (string) –

string filename
---

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_disableMultipleTorqueControllers¶

Field (Request):
	jnames[] (string) –
Field (Response):
	operation_return (bool) –

string[] jnames
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_setMultipleReferenceTorques¶

Field (Request):
	jnames[] (string) – tauRefs[] (float64) –
Field (Response):
	operation_return (bool) –

string[] jnames
float64[] tauRefs
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequenceOfGroup¶

Field (Request):
	gname (string) – jvss (std_msgs/Float64MultiArray) – tms[] (float64) –
Field (Response):
	operation_return (bool) –

string gname
std_msgs/Float64MultiArray jvss
float64[] tms
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_loadPattern¶

Field (Request):
	basename (string) – tm (float64) –

string basename
float64 tm
---

hrpsys_ros_bridge/Img_CameraCaptureService_stop_continuous¶

---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clearNoWait¶

---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setMaxIKIteration¶

Field (Request):
	max_iteration (int16) –

int16 max_iteration
---

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_calibrateInertiaSensor¶

---

hrpsys_ros_bridge/OpenHRP_TorqueControllerService_stopTorqueControl¶

Field (Request):
	jname (string) –
Field (Response):
	operation_return (bool) –

string jname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_KalmanFilterService_setKalmanFilterParam¶

Field (Request):
	i_param (hrpsys_ros_bridge/OpenHRP_KalmanFilterService_KalmanFilterParam) –
Field (Response):
	operation_return (bool) –

OpenHRP_KalmanFilterService_KalmanFilterParam i_param
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_TorqueFilterService_dummy¶

Field (Request):
	msg (string) –

string msg
---

hrpsys_ros_bridge/OpenHRP_ServoControllerService_addJointGroup¶

Field (Request):
	gname (string) – ids[] (int16) –
Field (Response):
	operation_return (bool) –

string gname
int16[] ids
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_goPos¶

Field (Request):
	x (float64) – y (float64) – th (float64) –
Field (Response):
	operation_return (bool) –

float64 x
float64 y
float64 th
---
bool operation_return

hrpsys_ros_bridge/Img_CameraCaptureService_take_one_frame¶

---

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_writeDigitalOutputWithMask¶

Field (Request):
	dout[] (uint8) – mask[] (uint8) –
Field (Response):
	operation_return (bool) –

uint8[] dout
uint8[] mask
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RemoveForceSensorLinkOffsetService_loadForceMomentOffsetParams¶

Field (Request):
	filename (string) –
Field (Response):
	operation_return (bool) –

string filename
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_writeDigitalOutput¶

Field (Request):
	dout[] (uint8) –
Field (Response):
	operation_return (bool) –

uint8[] dout
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_stopMotion¶

---

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_adjustFootSteps¶

Field (Request):
	rfootstep (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – lfootstep (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) –
Field (Response):
	operation_return (bool) –

OpenHRP_AutoBalancerService_Footstep rfootstep
OpenHRP_AutoBalancerService_Footstep lfootstep
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ServoControllerService_removeJointGroup¶

Field (Request):
	gname (string) –
Field (Response):
	operation_return (bool) –

string gname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_waitImpedanceControllerTransition¶

Field (Request):
	name (string) –

string name
---

hrpsys_ros_bridge/OpenHRP_GraspControllerService_stopGrasp¶

Field (Request):
	name (string) –
Field (Response):
	operation_return (bool) –

string name
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_StateHolderService_getCommand¶

Field (Response):
	com (hrpsys_ros_bridge/OpenHRP_StateHolderService_Command) –

---
OpenHRP_StateHolderService_Command com

hrpsys_ros_bridge/OpenHRP_StabilizerService_startStabilizer¶

---

hrpsys_ros_bridge/OpenHRP_ForwardKinematicsService_selectBaseLink¶

Field (Request):
	linkname (string) –
Field (Response):
	operation_return (bool) –

string linkname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ServoControllerService_setJointAngles¶

Field (Request):
	jvs[] (float64) – tm (float64) –
Field (Response):
	operation_return (bool) –

float64[] jvs
float64 tm
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_GraspControllerService_startGrasp¶

Field (Request):
	name (string) – target_error (float64) –
Field (Response):
	operation_return (bool) –

string name
float64 target_error
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_getRemainingFootstepSequence¶

Field (Response):
	operation_return (bool) – o_footstep[] (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_Footstep) – o_current_fs_idx (int32) –

---
bool operation_return
OpenHRP_AutoBalancerService_Footstep[] o_footstep
int32 o_current_fs_idx

hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_getComponentProfile¶

Field (Request):
	obj (hrpsys_ros_bridge/RTC_LightweightRTObject) –
Field (Response):
	operation_return (hrpsys_ros_bridge/OpenHRP_ExecutionProfileService_ComponentProfile) –

RTC_LightweightRTObject obj
---
OpenHRP_ExecutionProfileService_ComponentProfile operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setMaxIKError¶

Field (Request):
	pos (float64) – rot (float64) –

float64 pos
float64 rot
---

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_getImpedanceControllerParam¶

Field (Request):
	name (string) –
Field (Response):
	operation_return (bool) – i_param (hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_impedanceParam) –

string name
---
bool operation_return
OpenHRP_ImpedanceControllerService_impedanceParam i_param

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_checkObjectTurnaroundDetection¶

Field (Response):
	operation_return (int64) –

---
int64 operation_return

hrpsys_ros_bridge/OpenHRP_EmergencyStopperService_releaseMotion¶

---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_clear¶

---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setInitialState¶

Field (Response):
	operation_return (bool) –

---
bool operation_return

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_setImpedanceControllerParam¶

Field (Request):
	name (string) – i_param (hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_impedanceParam) –
Field (Response):
	operation_return (bool) –

string name
OpenHRP_ImpedanceControllerService_impedanceParam i_param
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesOfGroup¶

Field (Request):
	gname (string) – jvs[] (float64) – tm (float64) –
Field (Response):
	operation_return (bool) –

string gname
float64[] jvs
float64 tm
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_TimeKeeperService_sleep¶

Field (Request):
	tm (float64) –

float64 tm
---

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_goVelocity¶

Field (Request):
	vx (float64) – vy (float64) – vth (float64) –
Field (Response):
	operation_return (bool) –

float64 vx
float64 vy
float64 vth
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_removeJointGroup¶

Field (Request):
	gname (string) –
Field (Response):
	operation_return (bool) –

string gname
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setBaseRpy¶

Field (Request):
	rpy[] (float64) – tm (float64) –
Field (Response):
	operation_return (bool) –

float64[] rpy
float64 tm
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_RobotHardwareService_getStatus2¶

Field (Response):
	rs (hrpsys_ros_bridge/OpenHRP_RobotHardwareService_RobotState2) –

---
OpenHRP_RobotHardwareService_RobotState2 rs

hrpsys_ros_bridge/OpenHRP_ImpedanceControllerService_stopImpedanceControllerNoWait¶

Field (Request):
	name (string) –
Field (Response):
	operation_return (bool) –

string name
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_AutoBalancerService_getAutoBalancerParam¶

Field (Response):
	operation_return (bool) – i_param (hrpsys_ros_bridge/OpenHRP_AutoBalancerService_AutoBalancerParam) –

---
bool operation_return
OpenHRP_AutoBalancerService_AutoBalancerParam i_param

hrpsys_ros_bridge/OpenHRP_WavPlayerService_playWavNoWait¶

Field (Request):
	wavfile (string) –

string wavfile
---

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_addJointGroup¶

Field (Request):
	gname (string) – jnames[] (string) –
Field (Response):
	operation_return (bool) –

string gname
string[] jnames
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setJointAnglesSequenceWithMask¶

Field (Request):
	jvss (std_msgs/Float64MultiArray) – mask[] (bool) – tms[] (float64) –
Field (Response):
	operation_return (bool) –

std_msgs/Float64MultiArray jvss
bool[] mask
float64[] tms
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_CollisionDetectorService_disableCollisionDetection¶

Field (Response):
	operation_return (bool) –

---
bool operation_return

hrpsys_ros_bridge/OpenHRP_SequencePlayerService_setTargetPose¶

Field (Request):
	name (string) – xyz[] (float64) – rpy[] (float64) – tm (float64) –
Field (Response):
	operation_return (bool) –

string name
float64[] xyz
float64[] rpy
float64 tm
---
bool operation_return

hrpsys_ros_bridge/OpenHRP_StabilizerService_getParameter¶

Field (Response):
	i_param (hrpsys_ros_bridge/OpenHRP_StabilizerService_stParam) –

---
OpenHRP_StabilizerService_stParam i_param

hrpsys_ros_bridge/OpenHRP_ThermoLimiterService_getParameter¶

Field (Response):
	operation_return (bool) – i_param (hrpsys_ros_bridge/OpenHRP_ThermoLimiterService_tlParam) –

---
bool operation_return
OpenHRP_ThermoLimiterService_tlParam i_param