ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

thormang3_manipulation_module_node

Subscribed Topics

robotis/manipulation/ini_pose_msg (std_msgs/String)
  • The message in this topic is used for initial posture command for Manipulation.
robotis/manipulation/joint_pose_msg (thormang3_manipulation_module_msgs/JointPose)
  • The message in this topic is used to control the robot in Joint Space.
robotis/manipulation/kinematics_pose_msg (thormang3_manipulation_module_msgs/KinematicsPose)
  • The message in this topic is used to control the robot in Task Space.

Published Topics

robotis/status (robotis_controller_msgs/StatusMsg)
  • The message in this topic is used for status message of THORMANG3.
robotis/movement_done (std_msgs/String)
  • The message in this topic is used for .

Services Called

robotis/manipulation/get_joint_pose (thormang3_manipulation_module_msgs/GetJointPose)
  • This service is used to obtain joint pose of selected manipulation group.
robotis/manipulation/get_kinematics_pose (thormang3_manipulation_module_msgs/GetKinematicsPose)
  • This service is used to obtain end effector pose of selected manipulation group.

Wiki: thormang3_manipulation_module (last edited 2018-04-30 02:05:02 by Jaehyun Shim)