ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS Message Types

BalanceParam.msg

  • This message contains parameters used in the Balance Algorithm.

DampingBalanceParam.msg

  • This message contains parameters used in the Balance Algorithm.

JointFeedBackGain.msg

  • This message contains parameters used for improving trajectory following of leg.

PoseXYZRPY.msg

  • This message is used to define a pose in the 3D space.

PoseZRPY.msg

  • This message is used to define a pose of COB in the StepData.

Robotpose.msg

  • This message contains parameters used for improving trajectory following of leg.

StepData.msg

  • This message is the format of StepData used in the thormang3_walking module.

StepPositionData.msg

  • This message is Position related Step Data Parameters.

StepTimeData.msg

  • This message is Time related Step Data Parameters.

WalkingJointStatesStamped.msg

  • This message is goal position of each joint of leg.

ROS Service Types

AddStepDataArray.srv

  • This sevice is used to add StepData to thormang3_walking_module.

GetReferenceStepData.srv

  • This sevice is used to acquire current status of THORMANG3 from the thormang3_walking_module.

IsRunning.srv

  • This sevice is used to identify whether THORMANG3 is walking or not.

RemoveExistingStepData.srv

  • This sevice is used to delete existing StepData.

SetBalanceParam.srv

  • This sevice is used to modify Balance Algorithm Parameter.

SetDampingBalanceParam.srv

  • This sevice is used to modify Balance Algorithm Parameter.

SetJointFeedBackGain.srv

  • This sevice is used to modify joint feedback gain.

StartWalking.srv

  • This sevice is used to start walking THORMANG3 with existing StepData.

Wiki: thormang3_walking_module_msgs (last edited 2018-04-26 06:23:28 by Jaehyun Shim)