kinetic

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS-THORMANG3

ROS API

thormang3_demo_node

Subscribed Topics

robotis/feet_ft/both_ft_value (thormang3_feet_ft_module_msgs/BothWrench)

• The message in this topic is used for FT value for calibration.

robotis/status (robotis_controller_msgs/StatusMsg)

• The message in this topic is used for status message of THORMANG3.

robotis/present_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule)

• The message in this topic is used for joint modules that are currently in use.

robotis/present_joint_states (sensor_msgs/JointState)

• The message in this topic is used for degree of each joint(Unit in Degree).

robotis/demo/pose (geometry_msgs/Pose)

• The message in this topic is used for pose that are used for Walking and Manipulation.

clicked_point (geometry_msgs/PointStamped)

thormang3_demo/ik_target_pose (geometry_msgs/Pose)

Published Topics

robotis/set_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule)

• The message in this topic is used to configuring each joint modules (configure for each joint, Not recommended to use).

robotis/enable_ctrl_module (std_msgs/String)

• The message in this topic is used to configure modules to control.

robotis/base/ini_pose (std_msgs/String)

• The message in this topic is used for initial posture of Thormang3.

robotis/feet_ft/ft_calib_command (std_msgs/String)

• The message in this topic is used for FT Calibration related command.

robotis/head_control/move_lidar (std_msgs/String)

• The message in this topic is used for head movement command for assembling LaserScan.

robotis/head_control/set_joint_states (sensor_msgs/JointState)

• The message in this topic is used to control separate head joints.

robotis/demo/foot_step_marker (visualization_msgs/MarkerArray)

• The message in this topic is used for visualized footstep messages created by footstep_planner.

robotis/manipulation/ini_pose_msg (std_msgs/String)

• The message in this topic is used for initial posture command for Manipulation.

robotis/manipulation/joint_pose_msg (thormang3_manipulation_module_msgs/JointPose)

• The message in this topic is used to control the robot in Joint Space.

robotis/manipulation/kinematics_pose_msg (thormang3_manipulation_module_msgs/KinematicsPose)

• The message in this topic is used to control the robot in Task Space.

robotis/thormang3_foot_step_generator/walking_command (thormang3_foot_step_generator/FootStepCommand)

• The message in this topic is used to create footsteps from the foot_step_generator with the walking parameter and direction.

robotis/thormang3_foot_step_generator/footsteps_2d (thormang3_foot_step_generator/Step2DArray)

• The message in this topic is used for 2D step array to create footsteps for THORMANG3.

robotis/thormang3_foot_step_generator/balance_command (std_msgs/Bool)

• The message in this topic is used for balance On/Off of THORMANG3.

robotis/action/page_num (std_msgs/Int32)

• The message in this topic is used for the page number.
  1 ~ 255 : play action
  -1 : stop action
  -2 :brake action

robotis/demo/action_index (std_msgs/Int32)

robotis/gripper/joint_pose_msg (std_msgs/JointState)

Services Called

robotis/get_present_joint_ctrl_modules (robotis_controller_msgs/GetJointModule)

• This service is used to obtain module that is currently in use for each joint.

plan_footsteps (humanoid_nav_msgs/PlanFootsteps)

• This service is used to create footsteps from map and footstep_planner.

robotis/manipulation/get_joint_pose (thormang3_manipulation_module_msgs/GetJointPose)

• This service is used to obtain joint pose of selected manipulation group.

robotis/manipulation/get_kinematics_pose (thormang3_manipulation_module_msgs/GetKinematicsPose)

• This service is used to obtain end effector pose of selected manipulation group.

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)

Parameters

demo_config (string, default: /config/demo_config.yaml)

• This yaml file is configuration file path of the demo program.