Only released in EOL distros:
thormang3_mpc: ati_ft_sensor | motion_module_tutorial | sensor_module_tutorial | thormang3_action_module | thormang3_balance_control | thormang3_base_module | thormang3_feet_ft_module | thormang3_gripper_module | thormang3_head_control_module | thormang3_kinematics_dynamics | thormang3_manager | thormang3_manipulation_module | thormang3_walking_module
Package Summary
Released
Documented
This package is a motion module for thormang3 walking. This package provides a online walking pattern generator for the thormang3.
- Maintainer status: developed
- Maintainer: Pyo <pyo AT robotis DOT com>
- Author: Zerom <zerom AT robotis DOT com>, SCH <sch AT robotis DOT com>, Kayman <kmjung AT robotis DOT com>, Jay Song
- License: Apache 2.0
- Bug / feature tracker: https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC/issues
- Source: git https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC.git (branch: kinetic-devel)
Contents
ROS Software Maintainer: ROBOTIS
ROBOTIS e-Manual
ROS API
thormang3_walking_module_node
Subscribed Topics
robotis/sensor/imu/imu (sensor_msgs/Imu)- The message in this topic is used to current data of the IMU Sensor.
Published Topics
robotis/walking/robot_pose (thormang3_walking_module_msgs/RobotPose)- The message in this topic is used for .
- The message in this topic is used for status message of THORMANG3.
- The message in this topic is used for .
- The message in this topic is used for
- The message in this topic is used for
Services Called
robotis/walking/get_reference_step_data (thormang3_walking_module_msgs/GetReferenceStrpData)- This service is used to collect current location of THORMANG3 in the Global from the Walking Module.
- This service is used to add StepData created by the user.
- This service is used to command to start walking.
- This service is used to check whether THORMANG3 is walking or not.
- This service is used to set Balance Algorithm parameters.
- This service is used to .
- This service is used to delete existing StepData.
