Contents
ROS Software Maintainer: ROBOTIS
ROBOTIS e-Manual
ROS API
op3_gui_demo
Subscribed Topics
robotis/status (robotis_controller_msgs/StatusMsg)- Message that describes status of action_module.
- This message reports which module is currently in use for ROBOTIS-OP3.
- This message reports present angles for each joint.
- position from rviz ui
Published Topics
robotis/base/ini_pose (std_msgs/String)- This message will have ROBOTIS-OP3 to take the initial posture.
- This message notifies framework to activate a specific module for ROBOTIS-OP3.
- This message contains data to be written to ROBOTIS-OP3 with the Sync Write command.
ex) LED control
- This message controls head joints.
- This message contains the path of voice files for speaking.
- This message commands walking module of ROBOTIS-OP3.
- This message configures walking parameters of the walking module.
- This message transfers page number to action_module to play actions.
- walking command for online walking, it contains a direction and some parameters(step time, step number, step length, step angle, leg to walk starting)
- dsp ratio, limp height, foot height max, zmp offset
- footsteps for online walking
- body offset for walking init pose
- foot distance of walking init pose
- balance command for online walking (balance_on/balance_off)
- resets the position of the body to the origin.
- joint pose message for online walking init pose.
- marker of footsteps for visualization
Services Called
robotis/get_present_joint_ctrl_modules (robotis_controller_msgs/GetJointModule)- This is a service to get present module of each joint
- service to get footsteps using footstep_planner
Parameters
gui_config (string, default: /op3_gui_demo/config/gui_config.yaml)- This yaml file saves joint names, available modules, list of module preset button.