[Documentation] [TitleIndex] [WordIndex

NEXTAGE OPEN / Hiro by Kawada Industries

http://anniversary.kawada.jp/imguploads/hiro_strategic_101_h400.jpg

ROS Software Maintainer: TORK

The NEXTAGE OPEN / Hiro (HiroNXO) is a manipulation platform built by Kawada Industries. The HiroNXO software system is written in hrpsys (OpenRTM-based controller), and its programming interface is available in ROS as well. As such, most of HiroNXO capabilities are available via ROS interfaces.

For those who already own HiroNXO robot / who are thinking about getting the robot / who are just interested in using it, we recommend starting with its opensource software tutorial series.

This video by Robophil might help you to overview hardware.

http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=Nextage_IREX13.png

Available ROS distro

Tutorials

Please see the the robot's opensource software tutorial series.

Support

Kawada should ship with infrastructure support for the HiroNXO while TORK supports its software. Visit the website for business info for the software support.

Library Overview

Basic Configuration

Component

ROS package/stack

Robot-specific Messages

(None)

Robot-specific Services

(None)

Robot model (URDF)

nextage_description

Machine configuration

(Done in hrpsys)

Hardware Drivers and Simulation

Component

ROS package/stack

Actuator Drivers

hrpsys

Sensor Drivers

See "Sensor Drivers" below

Simulation (3D)

openhrp3

Tool changer (chuck, suction or anything)

nextage_ros_bridge

http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=Screenshot_from_2013-11-06+10_51_06.png

High-Level Capabilities

Component

ROS package/stack

Kinematics

Delegated to hrpsys

Arm motion planning

nextage_moveit_config

Manipulation

nextage_moveit_config

Perception

OpenCV, pcl

Task executive

executive_smach

Web operation interface

rwt_moveit

Web operation interface running on Chrome on Android tablet

Web operation interface running on Chrome on Android tablet

Sensor Drivers

Following ROS sensor drivers are (not limited to) proven to work with HiroNXO:

Video. This "stampit" demo was presented at IROS2013 as a proof of concept. The application program was written in a week using python based on MoveIt!.


2019-09-07 12:25