Only released in EOL distros:   kinetic

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS OP3

ROS API

op3_online_walking_module(lib)

Subscribed Topics

robotis/online_walking/reset_body (std_msgs/Bool)

• This message is used for reset the body pose (go to initial pose with joint control).

robotis/online_walking/goal_joint_pose (op3_online_walking_module_msgs/JointPose)

• This message is used for joint space control.

robotis/online_walking/goal_kinematics_pose (op3_online_walking_module_msgs/KinematicsPose)

• This message is used for task space control.

robotis/online_walking/foot_step_command (op3_online_walking_module_msgs/FootStepCommand)

• This message is used for walking control by foot step command.

robotis/online_walking/walking_param (op3_online_walking_module_msgs/WalkingParam)

• This message is used to change walking parameter.

robotis/online_walking/wholebody_balance_msg (std_msgs/String)

• This message is used to set balance control on/off.

robotis/online_walking/body_offset (geometry_msgs/Pose)

• This message is used to set the body offset.

robotis/online_walking/foot_distance (std_msgs/Float64)

• This message is used to change the foot step height (z-position).

robotis/online_walking/footsteps_2d (op3_online_walking_module_msgs/Step2DArray)

• This message is used for walking control by foot step generator.

Published Topics

robotis/status (robotis_controller_msgs/StatusMsg)

• Message that describes status of online_walking_module.

robotis/movement_done (std_msgs/String)

• This message publish the notification when the movement is done.

robotis/online_walking/goal_joint_states (sensor_msgs/JointState)

• This message publish the goal joint states of this module.

robotis/pelvis_pose (geometry_msgs/PoseStamped)

• This message publish the goal pose of pelvis.

Services

robotis/online_walking/get_joint_pose (op3_online_walking_module_msgst/GetJointPose)

• Get current goal joint pose

robotis/online_walking/get_kinematics_pose (op3_online_walking_module_msgs/GetKinematicsPose)

• Get current goal end effector's pose of certain kinematics group