Ecosyste.ms: Awesome
An open API service indexing awesome lists of open source software.
https://github.com/open-phri/open-phri
OpenPHRI, a complete and generic solution for safe physical human-robot interactions
https://github.com/open-phri/open-phri
human-robot-interaction robotics robotics-libraries
Last synced: about 2 months ago
JSON representation
OpenPHRI, a complete and generic solution for safe physical human-robot interactions
- Host: GitHub
- URL: https://github.com/open-phri/open-phri
- Owner: open-phri
- License: lgpl-3.0
- Created: 2017-07-25T12:50:06.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2021-04-07T11:37:05.000Z (almost 4 years ago)
- Last Synced: 2024-08-03T12:02:00.763Z (5 months ago)
- Topics: human-robot-interaction, robotics, robotics-libraries
- Language: C++
- Homepage:
- Size: 14 MB
- Stars: 26
- Watchers: 5
- Forks: 5
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
Overview
=========
OpenPHRI: a generic framework to easily and safely control robots in interactions with humans
| Master | Integration |
|:---:|:---:|
| [](https://travis-ci.org/BenjaminNavarro/open-phri) | [](https://travis-ci.org/BenjaminNavarro/open-phri) |
For a quick install of OpenPHRI, jump to the [Standalone install](#standalone-install) section.
For an overview of the library, you can check the related [Robotics and Automation Magazine article](https://ieeexplore.ieee.org/ielx7/100/4600619/08360398.pdf), but keep in mind that the library went through some changes since its writing and so some parts might not be up-to-date.
You can find the documentation (work in progress) about OpenPHRI in this [Gitbook](https://openphri.gitbook.io/core).
DISCLAMER: version 1.0, the current release, has lots of improvements compared to initial release (0.x), but the Python bindings haven't been updated and so cannot be used. Since a version 2.0 with major usability improvements is on its way, the 1.0 will not be updated except for potential bugs fixes. Python bindings will be back with 2.0.
The license that applies to the whole package content is **GNULGPL**. Please look at the license.txt file at the root of this repository.
Installation and Usage
=======================
The detailed procedures for installing the open-phri package and for using its components is based on the [PID](http://pid.lirmm.net/pid-framework/pages/install.html) build and deployment system called PID. Just follow and read the links to understand how to install, use and call its API and/or applications.
For a quick installation:
## Installing the project into an existing PID workspace
To get last version :
```
cd /pid
make deploy package=open-phri
```
To get a specific version of the package :
```
cd /pid
make deploy package=open-phri version=
```
## Standalone install
```
git clone https://github.com/BenjaminNavarro/open-phri.git
cd open-phri
```
Then run the adequate install script depending on your system. For instance on linux:
```
sh share/install/standalone_install.sh
```
The pkg-config tool can be used to get all links and compilation flags for the libraries defined inthe project. To let pkg-config know these libraries, read the last output of the install_script and apply the given command. It consists in setting the PKG_CONFIG_PATH, for instance on linux do:
```
export PKG_CONFIG_PATH=/binaries/pid-workspace/share/pkgconfig:$PKG_CONFIG_PATH
```
Then, to get compilation flags run:
```
pkg-config --static --cflags open-phri_
```
To get linker flags run:
```
pkg-config --static --libs open-phri_
```
About authors
=====================
open-phri has been developped by following authors:
+ Benjamin Navarro (LIRMM)
Please contact Benjamin Navarro ([email protected]) - LIRMM for more information or questions.