Only released in EOL distros:
robotis_op3: cm_740_module | op3_action_module | op3_balance_control | op3_base_module | op3_direct_control_module | op3_head_control_module | op3_kinematics_dynamics | op3_localization | op3_manager | op3_online_walking_module | op3_walking_module | open_cr_module
Package Summary
Released
Documented
The op3_base_module package
- Maintainer status: developed
- Maintainer: Pyo <pyo AT robotis DOT com>
- Author: Kayman <kmjung AT robotis DOT com>, SCH <sch AT robotis DOT com>
- License: Apache 2.0
- Bug / feature tracker: https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues
- Source: git https://github.com/ROBOTIS-GIT/ROBOTIS-OP3.git (branch: kinetic-devel)
ROS Software Maintainer: ROBOTIS
ROBOTIS e-Manual
ROS API
op3_action_module(lib)
Subscribed Topics
robotis/base/ini_pose (std_msgs/String)- This message will have OP3 to take the initial posture(This command is effective even when the base module is inactive).
Published Topics
robotis/status (robotis_controller_msgs/StatusMsg)- Message that describes status of action_module.
- This message activates 'op3_base_module' to take the initial posture.
Data
Init posture
data file path : /op3_base_module/data/ini_pose.yaml
- yaml format
- mov_time : Estimated time to move to target points(unit in second)
- via_num : Number of waypoints
- via_time : Estimated time between waypoints(array structure)
- via_pose : Angle of every joint for each waypoint(unit in degree, array structure)
- tar_pose : Target joint angles for initial posture