ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS-OP3

ROS API

op3_gui_demo

Subscribed Topics

robotis/status (robotis_controller_msgs/StatusMsg)

• Message that describes status of action_module.

robotis/present_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule)

• This message reports which module is currently in use for ROBOTIS-OP3.

robotis/head_control/present_joint_states (sensor_msgs/JointState)

• This message reports present angles for each joint.

clicked_point (geometry_msgs/PointStamped)

• position from rviz ui

Published Topics

robotis/base/ini_pose (std_msgs/String)

• This message will have ROBOTIS-OP3 to take the initial posture.

robotis/enable_ctrl_module (std_msgs/String)

• This message notifies framework to activate a specific module for ROBOTIS-OP3.

robotis/sync_write_item (std_msgs/String)

• This message contains data to be written to ROBOTIS-OP3 with the Sync Write command.
  ex) LED control

robotis/head_control/set_joint_states (sensor_msgs/JointState)

• This message controls head joints.

play_sound_file (std_msgs/String)

• This message contains the path of voice files for speaking.

robotis/walking/command (std_msgs/String)

• This message commands walking module of ROBOTIS-OP3.

robotis/walking/set_params (op3_walking_module_msgs/WalkingParam)

• This message configures walking parameters of the walking module.

robotis/action/page_num (std_msgs/Int32)

• This message transfers page number to action_module to play actions.

robotis/online_walking/foot_step_command (op3_online_walking_module_msgs/FootStepCommand)

• walking command for online walking, it contains a direction and some parameters(step time, step number, step length, step angle, leg to walk starting)

robotis/online_walking/walking_param (op3_online_walking_module_msgs/WalkingParam)

• dsp ratio, limp height, foot height max, zmp offset

robotis/online_walking/footsteps_2d (op3_online_walking_module_msgs/Step2DArray)

• footsteps for online walking

robotis/online_walking/body_offset (geometry_msgs/Pose)

• body offset for walking init pose

robotis/online_walking/foot_distance (std_msgs/Float64)

• foot distance of walking init pose

robotis/online_walking/wholebody_balance_msg (std_msgs/String)

• balance command for online walking (balance_on/balance_off)

robotis/online_walking/reset_body (std_msgs/Bool)

• resets the position of the body to the origin.

robotis/online_walking/goal_joint_pose (op3_online_walking_module_msgs/JointPose)

• joint pose message for online walking init pose.

robotis/demo/foot_step_marker (visualization_msgs/MarkerArray)

• marker of footsteps for visualization

Services Called

robotis/get_present_joint_ctrl_modules (robotis_controller_msgs/GetJointModule)

• This is a service to get present module of each joint

plan_footsteps (humanoid_nav_msgs/PlanFootsteps)

• service to get footsteps using footstep_planner

Parameters

gui_config (string, default: /op3_gui_demo/config/gui_config.yaml)

• This yaml file saves joint names, available modules, list of module preset button.