This package describes basic function to control THORMANG3's upper-body. This module is based on position control. We provide joint space and task space control (forward kinematics, inverse kinematics).
- Maintainer status: developed
- Maintainer: Pyo <pyo AT robotis DOT com>
- Author: SCH <sch AT robotis DOT com>
- License: Apache 2.0
- Bug / feature tracker: https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC/issues
- Source: git https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC.git (branch: kinetic-devel)
ROS Software Maintainer: ROBOTIS
Subscribed Topicsrobotis/manipulation/ini_pose_msg (std_msgs/String)
- The message in this topic is used for initial posture command for Manipulation.
- The message in this topic is used to control the robot in Joint Space.
- The message in this topic is used to control the robot in Task Space.
Published Topicsrobotis/status (robotis_controller_msgs/StatusMsg)
- The message in this topic is used for status message of THORMANG3.
- The message in this topic is used for .
Services Calledrobotis/manipulation/get_joint_pose (thormang3_manipulation_module_msgs/GetJointPose)
- This service is used to obtain joint pose of selected manipulation group.
- This service is used to obtain end effector pose of selected manipulation group.