hrp-server

Small server to manage HID-Devices and HRP-compliant robots connections

Install

npm install hrp-server

Use

Inside a js file: var hs = require('hrp-server')(T_CONS,S_CONS,DEBUG)

Where:

• T_CONS: if true, an interactive console is shown in the terminal window
• S_CONS: if true, a remote console via a tcp socket is opened (port 6666)
• DEBUG: if true, debug messages written with the function server.debug are shown in the console

Refer to the h command in order to get help.

Notes

• Joints values are published on a socket on port 5678, for one active connection. No more connections are supported for the moment (at least not for publishing the joint values).
• This values can be read by a simulator, allowing remote visualization of the robot state.
• The socket console is intended to be used with hrp-web-server.