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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS-OP3

ROS API

op3_offset_tuner_server

Subscribed Topics

robotis/base/send_tra (std_msgs/String)

• The topic informs the start and end of trajectory following.

robotis/offset_tuner/joint_offset_data (op3_offset_tuner_msgs/JointOffsetData)

• The topic updates joint offset related parameters.

robotis/offset_tuner/torque_enable (op3_offset_tuner_msgs/JointTorqueOnOffArray)

• The topic transfers Torque enable/disable command for joints.

robotis/offset_tuner/command (std_msgs/String)

• The topic transfers command to the op3_offset_tuner_client.
  - "save" : Saves current offset to yaml
  - "ini_pose" : Take the initial posture for offset tuning

Services

robotis/offset_tuner/get_present_joint_offset_data (op3_offset_tuner_msgs/GetPresentJointOffsetData)

• The service obtains current offset data from the op3_offset_tuner_client.

Parameters

offset_path (string, default: "")

• The yaml file path to save offsets.

robot_file_path (string, default: "")

• This path indicates the location of .robot file that contains robot description data.

init_file_path (string, default: "")

• This path indicates the location of the file that contains initialization information of each joint.