rtmros_choreonoid/hrpsys_choreonoid/lib$ nm RobotHardware_choreonoid.so
[中略]
U write_accelerometer_offset
U write_command_angle
U write_command_angles
U write_command_torques
U write_command_velocities
U write_dgain
U write_digital_output
U write_digital_output_with_mask
U write_force_offset
U write_gyro_sensor_offset
U write_pgain
U write_power_command
U write_servo
With hrpsys SOURCE
rtmros_choreonoid/hrpsys_choreonoid/lib$ nm RobotHardware_choreonoid.so
[中略]
U write_accelerometer_offset
U write_command_accelerations
U write_command_angle
U write_command_angles
U write_command_torques
U write_command_velocities
U write_control_mode
U write_dgain
U write_digital_output
U write_digital_output_with_mask
U write_disturbance_observer
U write_disturbance_observer_gain
U write_force_offset
U write_gyro_sensor_offset
U write_joint_inertia
U write_joint_inertias
U write_pgain
U write_power_command
U write_servo
U write_torque_dgain
U write_torque_pgain
https://github.com/start-jsk/rtmros_choreonoid/pull/349 の一部です。
https://github.com/start-jsk/rtmros_choreonoid/issues/339 で報告されている、ソースのhrpsysでもROBOT_IOB_VERSIONが3になるバグを直すPRです。
hrpsysのバーションはaptとsourceで同じになっているので、hrpsys_PREFIXが/opt/rosから始まるかどうかでhrpsysがaptかソースかを判定します。
With hrpsys APT
With hrpsys SOURCE