Only released in EOL distros:
Package Summary
This package is a set of messages and services for using thormang3_walking_module.
- Maintainer status: developed
- Maintainer: Pyo <pyo AT robotis DOT com>
- Author: Zerom <zerom AT robotis DOT com>, Kayman <kmjung AT robotis DOT com>, SCH <sch AT robotis DOT com>, Jay Song
- License: Apache 2.0
- Bug / feature tracker: https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-msgs/issues
- Source: git https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-msgs.git (branch: kinetic-devel)
ROS Software Maintainer: ROBOTIS
ROBOTIS e-Manual
ROS Message Types
BalanceParam.msg
- This message contains parameters used in the Balance Algorithm.
DampingBalanceParam.msg
- This message contains parameters used in the Balance Algorithm.
JointFeedBackGain.msg
- This message contains parameters used for improving trajectory following of leg.
PoseXYZRPY.msg
- This message is used to define a pose in the 3D space.
PoseZRPY.msg
This message is used to define a pose of COB in the StepData.
Robotpose.msg
- This message contains parameters used for improving trajectory following of leg.
StepData.msg
This message is the format of StepData used in the thormang3_walking module.
StepPositionData.msg
- This message is Position related Step Data Parameters.
StepTimeData.msg
- This message is Time related Step Data Parameters.
WalkingJointStatesStamped.msg
- This message is goal position of each joint of leg.
ROS Service Types
AddStepDataArray.srv
This sevice is used to add StepData to thormang3_walking_module.
GetReferenceStepData.srv
- This sevice is used to acquire current status of THORMANG3 from the thormang3_walking_module.
IsRunning.srv
- This sevice is used to identify whether THORMANG3 is walking or not.
RemoveExistingStepData.srv
This sevice is used to delete existing StepData.
SetBalanceParam.srv
- This sevice is used to modify Balance Algorithm Parameter.
SetDampingBalanceParam.srv
- This sevice is used to modify Balance Algorithm Parameter.
SetJointFeedBackGain.srv
- This sevice is used to modify joint feedback gain.
StartWalking.srv
This sevice is used to start walking THORMANG3 with existing StepData.