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

The op3_base_module package

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual



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.
robotis/enable_ctrl_module (std_msgs/String)
  • This message activates 'op3_base_module' to take the initial posture.


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

Wiki: op3_base_module (last edited 2018-04-04 05:51:57 by Gilbert)