ROS Software Maintainer: ROBOTIS

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ROS API

thormang3_walking_module_node

Subscribed Topics

robotis/sensor/imu/imu (sensor_msgs/Imu)
  • The message in this topic is used to current data of the IMU Sensor.

Published Topics

robotis/walking/robot_pose (thormang3_walking_module_msgs/RobotPose)
  • The message in this topic is used for .
robotis/status (robotis_controller_msgs/StatusMsg)
  • The message in this topic is used for status message of THORMANG3.
robotis/pelvis_pose_base_walking (geometry_msgs/PoseStamped)
  • The message in this topic is used for .
robotis/movement_done (std_msgs/String)
  • The message in this topic is used for
robotis/walking/walking_joint_states (thormang3_walking_module_msgs/WalkingJointStatesStamped)
  • The message in this topic is used for

Services Called

robotis/walking/get_reference_step_data (thormang3_walking_module_msgs/GetReferenceStrpData)
  • This service is used to collect current location of THORMANG3 in the Global 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/walking_start (thormang3_walking_module_msgs/WalkingStart)
  • This service is used to command to start walking.
robotis/walking/is_running (thormang3_walking_module_msgs/IsRunning)
  • This service is used to check whether THORMANG3 is walking or not.
robotis/walking/set_balance_param (thormang3_walking_module_msgs/SetBalanceParam)
  • This service is used to set Balance Algorithm parameters.
robotis/walking/joint_feedback_gain (thormang3_walking_module_msgs/SetJointFeedBackGain)
  • This service is used to .
robotis/walking/remove_existing_step_data (thormang3_walking_module_msgs/RemoveExistingStepData)
  • This service is used to delete existing StepData.

Wiki: thormang3_walking_module (last edited 2018-04-30 02:05:58 by Jaehyun Shim)