Overview

OpenPHRI: a generic framework to easily and safely control robots in interactions with humans

Master	Integration

For a quick install of OpenPHRI, jump to the Standalone install section.

For an overview of the library, you can check the related Robotics and Automation Magazine article, 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.

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 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 <path to pid workspace>/pid
make deploy package=open-phri

To get a specific version of the package :

cd <path to pid workspace>/pid
make deploy package=open-phri version=<version number>

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=<path to open-phri>/binaries/pid-workspace/share/pkgconfig:$PKG_CONFIG_PATH

Then, to get compilation flags run:

pkg-config --static --cflags open-phri_<name of library>

To get linker flags run:

pkg-config --static --libs open-phri_<name of library>

About authors

open-phri has been developped by following authors:

• Benjamin Navarro (LIRMM)

Please contact Benjamin Navarro (navarro@lirmm.fr) - LIRMM for more information or questions.