thormang3_tools: thormang3_action_editor | thormang3_offset_tuner_server

Package Summary

The offset_tuner_server package

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

thormang3_offset_tuner_server_node

Subscribed Topics

robotis/base/send_tra (std_msgs/String)
  • The message in this topic is used to inform the start and end of trajectory following.
robotis/offset_tuner/joint_offset_data (thormang3_offset_tuner_msgs/JointOffsetData)
  • The message in this topic is used to transfer Joint offset.
robotis/offset_tuner/torque_enable (thormang3_offset_tuner_msgs/JointTorqueOnOffArray)
  • The message in this topic is used to transfer Torque enable/disable command for joints.
robotis/offset_tuner/command (std_msgs/String)
  • The message in this topic is used to transfer other commands(save, initial posture, etc).

Services Called

robotis/offset_tuner/get_present_joint_offset_data (thormang3_offset_tuner_msgs/GetPresentJointOffsetData)
  • The service is used to obtains current offset data from the thormang3_offset_tuner_client.

Parameters

offset_file_path (string, default: "")
  • This path indicates the file path that includes joint offset information and initial pose of tuning offset.
robot_file_path (string, default: "")
  • This path indicates the file .robot 's path that includes robot information.
init_file_path (string, default: "")
  • This path indicates the location of the file that contains initialization information of each joint.

Wiki: thormang3_offset_tuner_server (last edited 2018-04-30 01:26:08 by Jaehyun Shim)