<<PackageHeader(op3_manager)>>
<<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_manager

pub{
  0{
    name= robotis/status
    type= robotis_controller_msgs/StatusMsg
    desc= Message that describes status of action_module.
  }
  1{
    name= robotis/base/ini_pose
    type= std_msgs/String
    desc= message to let ROBOTIS-OP3 go init pose.
  }
}

sub{
  0{
    name= robotis/open_cr/button
    type= std_msgs/String
    desc= If the user button is pressed above 2 secs, ROBOTIS-OP3 will be torque on and go to init pose.
  }
  1{
    name= robotis/dxl_torque
    type= std_msgs/String
    desc= torque on command
  }
}

param{
  0{
    name= gazebo
    type= bool
    default= false
    desc= Configure whether to run the program in gazebo mode.  
  }
  1{
    name= gazebo_robot_name
    type= string
    default= ""
    desc= Configure the robot name for joint_state topic name when running in gazebo mode.<<BR>> ex) If ''''op3'''' is the ''''gazebo_robot_name'''', ''''/op3/joint_states'''' will be subscribed.
  }
  2{
    name= offset_file_path
    type= string
    default= ""
    desc= This path indicates the location of the file that contains offset data of each joint and initial posture data for offset adjustment.
  }
  3{
    name= robot_file_path
    type= string
    default= ""
    desc= This path indicates the location of .robot file that contains robot description data.
  }
  4{
    name= init_file_path
    type= string
    default= ""
    desc= This path indicates the location of the file that contains initialization information of each joint.
  }
  5{
    name= device_name
    type= string
    default= "/dev/ttyUSB0"
    desc= This port name is used to open the communication port of OpenCR that manages Dynamixel power supply.
  }
  6{
    name= baud_rate
    type= int
    default= "2000000"
    desc= This baud rate is used to open the communication port of OpenCR that manages Dynamixel power supply.
  }
}
}
}}}

=== Using Libraries ===
Each library has publishers and subcribers. Please refer to the information on the link.
 * [[http://wiki.ros.org/robotis_controller|robotis_controller]]
 * [[http://wiki.ros.org/op3_action_module|op3_action_module]]
 * [[http://wiki.ros.org/op3_base_module|op3_base_module]]
 * [[http://wiki.ros.org/op3_direct_control_module|op3_direct_control_module]]
 * [[http://wiki.ros.org/op3_head_control_module|op3_head_control_module]]
 * [[http://wiki.ros.org/op3_online_walking_module|op3_online_walking_module]]
 * [[http://wiki.ros.org/op3_walking_module|op3_walking_module]]
 * [[http://wiki.ros.org/open_cr_module|open_cr_module]]