<> <> ''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]'' == ROBOTIS e-Manual == * [[http://emanual.robotis.com/docs/en/platform/op3/introduction/|ROBOTIS e-Manual for ROBOTIS-OP3]] == ROS API == {{{ #!clearsilver CS/NodeAPI node.0 { name=op3_action_module(lib) pub{ 0{ name= robotis/status type= robotis_controller_msgs/StatusMsg desc= Message that describes status of action_module. } 1{ name= robotis/enable_ctrl_module type= std_msgs/String desc= This message activates ''''op3_base_module'''' to take the initial posture. } } sub{ 0{ name= robotis/base/ini_pose type= std_msgs/String desc= This message will have OP3 to take the initial posture(This command is effective even when the base module is inactive). } } } }}} ==== 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