<<PackageHeader(hironx_ros_bridge)>>
<<Include(Industrial/Software_Status/Developmental)>>
<<TOC(4)>>

Dependency graph (that's yielded by [[rqt_dep]]) of `hironx_ros_bridge`.
[[http://wiki.ros.org/hironx_ros_bridge?action=AttachFile&do=view&target=rosdep_hironx_ros_bridge.png|{{attachment:rosdep_hironx_ros_bridge.png | launch top window | width=90%}}]]

== Tutorials ==
Tutorial for `Hironx` is integrated into [[rtmros_nextage/Tutorials|NEXTAGE OPEN]]'s page.

== Available Robot Client Methods ==
`hironx_ros_bridge` is supported by the opensource community per best-effort basis. If you find anything wrong, or would like to add more documentation, please consider opening a ticket and providing patches [[http://code.google.com/p/rtm-ros-robotics/issues/list|at the issue tracker]].
=== Methods' API Doc ===
User can get a the most control of the `Hironx` robot through the Python class `hironx_ros_bridge.hironx_client.HIRONX`, where the large part of methods are derived from [[http://fkanehiro.github.io/hrpsys-base/df/d98/classpython_1_1hrpsys__config_1_1HrpsysConfigurator.html|hrpsys.HrpsysConfigurator]]. Some of their methods are overridden specifically for Hironx at [[http://docs.ros.org/hydro/api/hironx_ros_bridge/html/classhironx__ros__bridge_1_1hironx__client_1_1HIRONX.html|the Python class `HIRONX`]] (that is a derived class of `hrpsys.HrpsysConfigurator`).

=== Unit Testing ===
For some of those methods derived from [[hrpsys]], unit test cases are available in [[https://github.com/tork-a/rtmros_nextage/blob/groovy-devel/nextage_ros_bridge/test/test_hironx_derivedmethods_rostest.py|nextage_ros_bridge/test/test_hironx_derivedmethods_rostest.py]]. Download it and run:
{{{
$ mv test_hironx_derivedmethods_rostest.py `rospack find nextage_ros_bridge`/test
$ chmod 755 test_hironx_derivedmethods_rostest.py
$ rosrun nextage_ros_bridge test_hironx_derivedmethods_rostest.py 
}}}

As of today (Jan 31, 2014), you might want to modify the file to adjust to your environment. Open the file with the editor, replace [[https://github.com/tork-a/rtmros_nextage/blob/b53fdb3adffe3a4d3f90a7ba9435e786b05f8db7/nextage_ros_bridge/test/test_hironx_derivedmethods_rostest.py#L78|rtm.nshost]] with the QNX hostname of your robot.

This will be improved so that you can specify the hostname in easier way.
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