<<PackageHeader(op3_gui_demo)>>
<<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/platform/op3/introduction/|ROBOTIS e-Manual for ROBOTIS-OP3]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name=op3_gui_demo

pub{
  0{
    name= robotis/base/ini_pose
    type= std_msgs/String
    desc= This message will have ROBOTIS-OP3 to take the initial posture.
  }
  1{
    name= robotis/enable_ctrl_module
    type= std_msgs/String
    desc= This message notifies framework to activate a specific module for ROBOTIS-OP3.
  }
  2{
    name= robotis/sync_write_item
    type= std_msgs/String
    desc= This message contains data to be written to ROBOTIS-OP3 with the Sync Write command.<<BR>>ex) LED control
  }
  3{
    name= robotis/head_control/set_joint_states
    type= sensor_msgs/JointState
    desc= This message controls head joints.
  }
  4{
    name= play_sound_file
    type= std_msgs/String
    desc= This message contains the path of voice files for speaking.
  }
  5{
    name= robotis/walking/command
    type= std_msgs/String
    desc= This message commands walking module of ROBOTIS-OP3.
  }
  6{
    name= robotis/walking/set_params
    type= op3_walking_module_msgs/WalkingParam
    desc= This message configures walking parameters of the walking module.
  }
  7{
    name= robotis/action/page_num
    type= std_msgs/Int32
    desc= This message transfers page number to action_module to play actions.
  }
  8{
    name= robotis/online_walking/foot_step_command
    type= op3_online_walking_module_msgs/FootStepCommand
    desc= walking command for online walking, it contains a direction and some parameters(step time, step number, step length, step angle, leg to walk starting)
  }
  9{
    name= robotis/online_walking/walking_param
    type= op3_online_walking_module_msgs/WalkingParam
    desc= dsp ratio, limp height, foot height max, zmp offset
  }
  10{
    name= robotis/online_walking/footsteps_2d
    type= op3_online_walking_module_msgs/Step2DArray
    desc= footsteps for online walking
  }
  11{
    name= robotis/online_walking/body_offset
    type= geometry_msgs/Pose
    desc= body offset for walking init pose
  }
  12{
    name= robotis/online_walking/foot_distance
    type= std_msgs/Float64
    desc= foot distance of walking init pose
  }
  13{
    name= robotis/online_walking/wholebody_balance_msg
    type= std_msgs/String
    desc= balance command for online walking (balance_on/balance_off) 
  }
  14{
    name= robotis/online_walking/reset_body
    type= std_msgs/Bool
    desc= resets the position of the body to the origin.
  }
  15{
    name= robotis/online_walking/goal_joint_pose
    type= op3_online_walking_module_msgs/JointPose
    desc= joint pose message for online walking init pose. 
  }
  16{
    name= robotis/demo/foot_step_marker
    type= visualization_msgs/MarkerArray
    desc= marker of footsteps for visualization
  }
}

sub{
  0{
    name= robotis/status
    type= robotis_controller_msgs/StatusMsg
    desc= Message that describes status of action_module.
  }
  1{
    name= robotis/present_joint_ctrl_modules
    type= robotis_controller_msgs/JointCtrlModule
    desc= This message reports which module is currently in use for ROBOTIS-OP3.
  }
  2{
    name= robotis/head_control/present_joint_states
    type= sensor_msgs/JointState
    desc= This message reports present angles for each joint.
  }
  3{
    name= clicked_point
    type= geometry_msgs/PointStamped
    desc= position from rviz ui
  }
}

srv_called{
  0{
    name= robotis/get_present_joint_ctrl_modules
	type= robotis_controller_msgs/GetJointModule
	desc= This is a service to get present module of each joint
  }
  1{
    name= plan_footsteps
	type= humanoid_nav_msgs/PlanFootsteps
	desc= service to get footsteps using [[http://wiki.ros.org/footstep_planner|footstep_planner]]
  }
}

param{
  0{
    name= gui_config
    default= /op3_gui_demo/config/gui_config.yaml
    type= string
    desc= This yaml file saves joint names, available modules, list of module preset button.
  }
}
}
}}}