<<PackageHeader(thormang3_action_script_player)>> <<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/platform/thormang3/introduction/|ROBOTIS e-Manual for ROBOTIS-THORMANG3]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name=thormang3_action_script_player_node

sub{
  0{
    name= robotis/demo/action_index
    type= std_msgs/Int32
    desc= The message in this topic is used for the action script number to play.
  }
}

pub{
  0{
    name= robotis/action/page_num
    type= std_msgs/Int32
    desc= The message in this topic is used for the page number. <<BR>> 1 ~ 255 : play action <<BR>> -1 : stop action<<BR>> -2 :brake action
  }
  1{
    name= robotis/action/start_action
    type= thormang3_action_module_msgs/StartAction
    desc= The message in this topic is used for the page number and joint names.
  }
  2{
    name= play_sound_file
    type= std_msgs/String
    desc= The message in this topic is used to play sound file.
  }
}

srv_called{
  0{
    name= robotis/action/is_running
    type= thormang3_action_module_msgs/IsRunning
    desc= This service is used to check whether the action is running or not.
  }
}
param{
  0{
    name= action_script_file_path
    type= string
    default= "thormang3_action_script_player/script/action_script.yaml"
    desc= This parameter is used to indicate the location of action script file.
  }
}
}
}}}