Introduction

Raisin is a control platform to manage legged robots.

Overview

1. C++-based Core (with a few Python scripts): The main framework is developed in C++ for performance and reliability, with supplemental tools in Python where appropriate.

2. ROS-Inspired Architecture with Shared APIs: Our system is designed to resemble ROS, making it easier to onboard developers familiar with ROS and to port existing ROS packages into our framework with minimal changes.

3. Designed for Easy Customization: Our primary users are not end-users, but developers building their own systems. The software is modular and extensible to support rapid development and adaptation.

4. Foundation Layer, Not a Full Solution: We provide a set of baseline components and tools. Our customers are expected to build complete applications and solutions on top of this foundation.

Key Features

• Build System: RaisinMaster is a fast, lightweight build system that replaces colcon in ROS2, leveraging CMake for efficient builds.

• Data Communication: RaisinNetwork for efficient data exchange between components, similar to ROS topics and services.

• Utilities:

  • Parameter for managing configuration settings.

  • DataLogger for logging and analyzing data from the robot and its environment.

• Executables:

  • RaiboNode runs on the robot PC and manages the interaction between the robot and its environment by processing sensor data and issuing torque commands. It can be customized using Plugin and Controller.

  • RaisinGui runs on a remote PC and provides a graphical interface for monitoring and controlling the robot. It can be extended by creating custom windows.