thormang3_ppc: thormang3_manipulation_demo | thormang3_sensors | thormang3_walking_demo

Package Summary

The thormang3_walking_demo package This package describes how to use thormang3_walking_module.

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

thormang3_walking_demo_node

Subscribed Topics

robotis/walking_demo/command (std_msgs/String)
  • The message in this topic is used for/to.
robotis/status (robotis_controller_msgs/StatusMsg)
  • The message in this topic is used for current state.

Published Topics

robotis/base/ini_pose (std_msgs/String)
  • The message in this topic is used for initial posture of Thormang3.
robotis/enable_ctrl_module (std_msgs/String)
  • The message in this topic is used to configure modules to control.

Services Called

robotis/walking/get_reference_step_data (thormang3_walking_module_msgs/GetReferenceStepData)
  • This service is used to collect current location of THORMANG3 in the Global from the Walking Module.
robotis/walking/add_step_data (thormang3_walking_module_msgs/AddStepDataArray)
  • This service is used to add StepData created by the user.
robotis/walking/is_running (thormang3_walking_module_msgs/IsRunning)
  • This service is used to check whether THORMANG3 is walking or not.
robotis/walking/set_balance_param (thormang3_walking_module_msgs/SetBalanceParam)
  • This service is used to set Balance Algorithm parameters.
robotis/walking/joint_feedback_gain (thormang3_walking_module_msgs/SetJointFeedBackGain)

Wiki: thormang3_walking_demo (last edited 2018-04-30 05:28:21 by Jaehyun Shim)