ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

thormang3_foot_step_generator_node

Subscribed Topics

robotis/status (robotis_controller_msgs/Status)
  • The message in this topic is used for status message of THORMANG3.
robotis/thormang3_foot_step_generator/walking_command (thormang3_foot_step_generator/FootStepCommand)
  • The message in this topic includes walking type and step length.
robotis/thormang3_foot_step_generator/footsteps_2d (invalid message type for MsgLink(msg/type))
  • The message in this topic contains x, y, theta and moving_foot_flag.

Services Called

robotis/walking/get_reference_step_data (thormang3_walking_module_msgs/GetReferenceStepData)
  • This service is used to obtain current location of THORMANG3 in the Global space from the Walking Module.
robotis/walking/add_step_data (thormang3_walking_module_msgs/AddStepDataArray)
  • This service is used to add StepData created by the User.
robotis/walking/set_balance_param (thormang3_walking_module_msgs/SetBalanceParam)
  • This service is used to initiate walking.
robotis/walking/is_running (thormang3_walking_module_msgs/IsRunning)
  • This service is used to check whether the robot is walking or not.

ROS Message Types

FootStepCommand.msg

  • This message is used when creating stepdata.

Step2D.msg

  • This message is used when creating Step2DArray.msg.

Step2DArray.msg

  • This message is StepData defined by the User.

Wiki: thormang3_foot_step_generator (last edited 2018-04-26 01:22:25 by Jaehyun Shim)