NEXTAGE OPEN / Hiro by Kawada Industries
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.
Contents
Available ROS distro
ROS Indigo (recommended)
ROS Hydro (end-of-life. For existing users, see this if you want to keep using Hydro)
ROS Groovy (end-of-life)
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) |
|
Machine configuration |
(Done in hrpsys) |
Hardware Drivers and Simulation
Component |
ROS package/stack |
Actuator Drivers |
|
Sensor Drivers |
See "Sensor Drivers" below |
Simulation (3D) |
|
Tool changer (chuck, suction or anything) |
High-Level Capabilities
Component |
ROS package/stack |
Kinematics |
Delegated to hrpsys |
Arm motion planning |
|
Manipulation |
|
Perception |
|
Task executive |
|
Web operation interface |
Sensor Drivers
Following ROS sensor drivers are (not limited to) proven to work with HiroNXO:
Nitta force sensor (API available via hironx_ros_bridge package)
IDS Imaging UEYE embedded camera
Kinect via freenect_stack, openni_camera
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!.
