<<PackageHeader(thormang3_manipulation_demo)>> <<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/platform/thormang3/introduction/|ROBOTIS e-Manual for ROBOTIS-THORMANG3]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name=thormang3_manipulation_demo_node

sub{
  0{
    name= robotis/manipulation_demo/command
    type= std_msgs/String
    desc= The message in this topic is used to run various Manipulation simple demo commands.
  }
}

pub{
  0{
    name= robotis/base/ini_pose
    type= std_msgs/String
    desc= The message in this topic is used for initial posture of Thormang3.
  }
  1{
    name= robotis/enable_ctrl_module
    type= std_msgs/String
    desc= The message in this topic is used to configure modules to control.
  }
  2{
    name= robotis/manipulation/kinematics_pose_msg
    type= thormang3_manipulation_module_msgs/KinematicsPose
    desc= The message in this topic is used to control the robot in Task Space.
  }
  3{
    name= robotis/manipulation/ini_pose_msg
    type= std_msgs/String
    desc= The message in this topic is used for initial posture command for Manipulation.
  }
}
}
}}}