Documentation Status

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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

op3_online_walking_module(lib)

Subscribed Topics

robotis/online_walking/reset_body (std_msgs/Bool)
  • This message is used for reset the body pose (go to initial pose with joint control).
robotis/online_walking/goal_joint_pose (op3_online_walking_module_msgs/JointPose)
  • This message is used for joint space control.
robotis/online_walking/goal_kinematics_pose (op3_online_walking_module_msgs/KinematicsPose)
  • This message is used for task space control.
robotis/online_walking/foot_step_command (op3_online_walking_module_msgs/FootStepCommand)
  • This message is used for walking control by foot step command.
robotis/online_walking/walking_param (op3_online_walking_module_msgs/WalkingParam)
  • This message is used to change walking parameter.
robotis/online_walking/wholebody_balance_msg (std_msgs/String)
  • This message is used to set balance control on/off.
robotis/online_walking/body_offset (geometry_msgs/Pose)
  • This message is used to set the body offset.
robotis/online_walking/foot_distance (std_msgs/Float64)
  • This message is used to change the foot step height (z-position).
robotis/online_walking/footsteps_2d (op3_online_walking_module_msgs/Step2DArray)
  • This message is used for walking control by foot step generator.

Published Topics

robotis/status (robotis_controller_msgs/StatusMsg)
  • Message that describes status of online_walking_module.
robotis/movement_done (std_msgs/String)
  • This message publish the notification when the movement is done.
robotis/online_walking/goal_joint_states (sensor_msgs/JointState)
  • This message publish the goal joint states of this module.
robotis/pelvis_pose (geometry_msgs/PoseStamped)
  • This message publish the goal pose of pelvis.

Services

robotis/online_walking/get_joint_pose (op3_online_walking_module_msgst/GetJointPose)
  • Get current goal joint pose
robotis/online_walking/get_kinematics_pose (op3_online_walking_module_msgs/GetKinematicsPose)
  • Get current goal end effector's pose of certain kinematics group

Wiki: op3_online_walking_module (last edited 2018-04-12 06:08:14 by s-changhyun)