We present new 2D high resolution Fabry-Perot spectroscopic observations of 152 star-forming galaxies which are part of the $Herschel$ Reference Survey (HRS), a complete $K$-band selected, volume-limited sample of nearby galaxies, spanning a wide range in stellar mass and morphological type. Using improved data reduction techniques that provide adaptive binning based on Voronoi tessellation, using large field-of-view observations, we derive high spectral resolution (R$>$10,000) H$alpha$ datacubes from which we compute H$alpha$ maps and radial 2D velocity fields that are based on several thousand independent measurements. A robust method based on such fields allows us to accurately compute rotation curves and kinematical parameters, for which uncertainties are calculated using a method based on the power spectrum of the residual velocity fields. We check the consistency of the rotation curves by comparing our maximum rotational velocities to those derived from HI data, and computing the $i$-band, NIR, stellar and baryonic Tully-Fisher relations. We use this set of kinematical data combined to those available at other frequencies to study for the first time the relation between the dynamical and the total baryonic mass (stars, atomic and molecular gas, metals and dust), and derive the baryonic and dynamical main sequence on a representative sample of the local universe.
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