= NEXTAGE OPEN / Hiro by Kawada Industries =
[[http://anniversary.kawada.jp/imguploads/hiro_strategic_101_h400.jpg|{{http://anniversary.kawada.jp/imguploads/hiro_strategic_101_h400.jpg||align="right",width="40%"}}]]

''ROS Software Maintainer: [[http://opensource-robotics.tokyo.jp/|TORK]]''

The [[http://nextage.kawada.jp/en/concept/|NEXTAGE OPEN / Hiro]] (HiroNXO) is a manipulation platform built by [[https://www.kawadarobot.co.jp/index_en.html|Kawada Industries]]. The HiroNXO software system is written in [[hrpsys]] ([[openrtm_aist|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 [[rtmros_nextage/Tutorials|its opensource software tutorial series]].

[[https://www.youtube.com/watch?v=9-FITp85_Zo|This video by Robophil]] might help you to overview hardware.

<<TOC(3)>>

[[http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=Nextage_IREX13.png|{{http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=Nextage_IREX13.png||align="right",width="40%"}}]]

== Available ROS distro ==
 * [[indigo|ROS Indigo]] (recommended)
 * [[hydro|ROS Hydro]] (end-of-life. For existing users, see [[https://github.com/start-jsk/rtmros_hironx/issues/396#issue-110061759|this]] if you want to keep using Hydro)
 * [[groovy|ROS Groovy]] (end-of-life)

== Tutorials ==
Please see the [[rtmros_nextage/Tutorials|the robot's opensource software tutorial series]].

== Support ==
Kawada should ship with infrastructure support for the HiroNXO while [[http://opensource-robotics.tokyo.jp|TORK]] supports its software.
Visit [[http://opensource-robotics.tokyo.jp/?page_id=681&lang=en|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|{{http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=Screenshot_from_2013-11-06+10_51_06.png||align="right",width="40%"}}]]

=== High-Level Capabilities ===
||'''Component''' ||'''ROS package/stack''' ||
||Kinematics || Delegated to [[hrpsys]] ||
||Arm motion planning ||[[nextage_moveit_config]] ||
||Manipulation ||[[nextage_moveit_config]] ||
||Perception ||[[vision_opencv|OpenCV]], [[pcl]] ||
||Task executive ||[[executive_smach]] ||
||Web operation interface ||[[rwt_moveit]] ||


{{http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=nextage_tablet_irex.png|Web operation interface running on Chrome on Android tablet|align="right",width=15%}}


{{http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=nxo_rwt_moveit_1.png|Web operation interface running on Chrome on Android tablet|align="right",width="30%"}}

=== Sensor Drivers ===
Following ROS sensor drivers are (not limited to) proven to work with `HiroNXO`:

 * [[dynpick_driver|Dynpick force sensor]]
 * Nitta force sensor (API available via [[hironx_ros_bridge]] package)
 * [[ueye_cam|IDS Imaging UEYE]] embedded camera
 * Kinect via [[freenect_stack]], [[openni_camera]]
 * [[leptrino_force_torque|Leptrino f/t sensor]]

<<Youtube(i051WKKelSw)>>

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|MoveIt!]].

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