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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

thormang3_demo_node

Subscribed Topics

robotis/feet_ft/both_ft_value (thormang3_feet_ft_module_msgs/BothWrench) robotis/status (robotis_controller_msgs/StatusMsg) robotis/present_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule) robotis/present_joint_states (sensor_msgs/JointState) robotis/demo/pose (geometry_msgs/Pose) clicked_point (geometry_msgs/PointStamped) thormang3_demo/ik_target_pose (geometry_msgs/Pose)

Published Topics

robotis/set_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule) robotis/enable_ctrl_module (std_msgs/String) robotis/base/ini_pose (std_msgs/String) robotis/feet_ft/ft_calib_command (std_msgs/String) robotis/head_control/move_lidar (std_msgs/String) robotis/head_control/set_joint_states (sensor_msgs/JointState) robotis/demo/foot_step_marker (visualization_msgs/MarkerArray) robotis/manipulation/ini_pose_msg (std_msgs/String) robotis/manipulation/joint_pose_msg (thormang3_manipulation_module_msgs/JointPose) robotis/manipulation/kinematics_pose_msg (thormang3_manipulation_module_msgs/KinematicsPose) robotis/thormang3_foot_step_generator/walking_command (thormang3_foot_step_generator/FootStepCommand) robotis/thormang3_foot_step_generator/footsteps_2d (thormang3_foot_step_generator/Step2DArray) robotis/thormang3_foot_step_generator/balance_command (std_msgs/Bool) robotis/action/page_num (std_msgs/Int32) 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) plan_footsteps (humanoid_nav_msgs/PlanFootsteps) robotis/manipulation/get_joint_pose (thormang3_manipulation_module_msgs/GetJointPose) robotis/manipulation/get_kinematics_pose (thormang3_manipulation_module_msgs/GetKinematicsPose) robotis/walking/set_balance_param (thormang3_walking_module_msgs/SetBalanceParam) robotis/walking/joint_feedback_gain (thormang3_walking_module_msgs/SetJointFeedBackGain)

Parameters

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

2019-06-22 13:16