<<PackageHeader(op3_online_walking_module)>>
<<TOC(4)>>

''ROS Software Maintainer: [[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_online_walking_module(lib)

pub{
  0{
    name= robotis/status
    type= robotis_controller_msgs/StatusMsg
    desc= Message that describes status of online_walking_module.
  }
  1{
    name= robotis/movement_done
    type= std_msgs/String
    desc= This message publish the notification when the movement is done.
  }
  2{
    name= robotis/online_walking/goal_joint_states
    type= sensor_msgs/JointState
    desc= This message publish the goal joint states of this module.
  }
  3{
    name= robotis/pelvis_pose
    type= geometry_msgs/PoseStamped
    desc= This message publish the goal pose of pelvis.
  }
}

sub{
  0{
    name= robotis/online_walking/reset_body
    type= std_msgs/Bool
    desc= This message is used for reset the body pose (go to initial pose with joint control).
   }
  1{
    name= robotis/online_walking/goal_joint_pose
    type= op3_online_walking_module_msgs/JointPose
    desc= This message is used for joint space control.
   }
  2{
    name= robotis/online_walking/goal_kinematics_pose 
    type= op3_online_walking_module_msgs/KinematicsPose
    desc= This message is used for task space control.
   }
  3{
    name= robotis/online_walking/foot_step_command 
    type= op3_online_walking_module_msgs/FootStepCommand
    desc= This message is used for walking control by foot step command.
   }
  4{
    name= robotis/online_walking/walking_param 
    type= op3_online_walking_module_msgs/WalkingParam
    desc= This message is used to change walking parameter.
   }
  5{
    name= robotis/online_walking/wholebody_balance_msg 
    type= std_msgs/String
    desc= This message is used to set balance control on/off.
   }
  6{
    name= robotis/online_walking/body_offset
    type= geometry_msgs/Pose
    desc= This message is used to set the body offset.
   }
  7{
    name= robotis/online_walking/foot_distance
    type= std_msgs/Float64
    desc= This message is used to change the foot step height (z-position).
   }
  8{
    name= robotis/online_walking/footsteps_2d
    type= op3_online_walking_module_msgs/Step2DArray
    desc= This message is used for walking control by foot step generator.
   }
}
srv{
  0{
   name= robotis/online_walking/get_joint_pose
   type= op3_online_walking_module_msgst/GetJointPose
   desc= Get current goal joint pose
  }
  1{
   name= robotis/online_walking/get_kinematics_pose 
   type= op3_online_walking_module_msgs/GetKinematicsPose
   desc= Get current goal end effector's pose of certain kinematics group
  }
}
}
}}}