op3_online_walking_module

ROS 2 Documentation

The ROS Wiki is for ROS 1. Are you using ROS 2 (Humble, Iron, or Rolling)?
Check out the ROS 2 Project Documentation
Package specific documentation can be found on index.ros.org

Wiki

Page

Immutable Page
Comments
Info
Attachments
More Actions:

User

Login

Only released in EOL distros:

See op3_online_walking_module on index.ros.org for more info including aything ROS 2 related.

Documentation Status

robotis_op3: cm_740_module | op3_action_module | op3_balance_control | op3_base_module | op3_direct_control_module | op3_head_control_module | op3_kinematics_dynamics | op3_localization | op3_manager | op3_online_walking_module | op3_walking_module | open_cr_module

Package Summary

The op3_online_walking_module package

Maintainer status: developed
Maintainer: Pyo <pyo AT robotis DOT com>
Author: SCH <sch AT robotis DOT com>
License: Apache 2.0
Bug / feature tracker: https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues
Source: git https://github.com/ROBOTIS-GIT/ROBOTIS-OP3.git (branch: kinetic-devel)

Contents

ROBOTIS e-Manual
ROS API
1. op3_online_walking_module(lib)

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROBOTIS e-Manual for ROBOTIS OP3

ROS API

op3_online_walking_module(lib)

Subscribed Topics

robotis/online_walking/reset_body (std_msgs/Bool)

This message is used for reset the body pose (go to initial pose with joint control).

robotis/online_walking/goal_joint_pose (op3_online_walking_module_msgs/JointPose)

This message is used for joint space control.

robotis/online_walking/goal_kinematics_pose (op3_online_walking_module_msgs/KinematicsPose)

This message is used for task space control.

robotis/online_walking/foot_step_command (op3_online_walking_module_msgs/FootStepCommand)

This message is used for walking control by foot step command.

robotis/online_walking/walking_param (op3_online_walking_module_msgs/WalkingParam)

This message is used to change walking parameter.

robotis/online_walking/wholebody_balance_msg (std_msgs/String)

This message is used to set balance control on/off.

robotis/online_walking/body_offset (geometry_msgs/Pose)

This message is used to set the body offset.

robotis/online_walking/foot_distance (std_msgs/Float64)

This message is used to change the foot step height (z-position).

robotis/online_walking/footsteps_2d (op3_online_walking_module_msgs/Step2DArray)

This message is used for walking control by foot step generator.

Published Topics

robotis/status (robotis_controller_msgs/StatusMsg)

Message that describes status of online_walking_module.

robotis/movement_done (std_msgs/String)

This message publish the notification when the movement is done.

robotis/online_walking/goal_joint_states (sensor_msgs/JointState)

This message publish the goal joint states of this module.

robotis/pelvis_pose (geometry_msgs/PoseStamped)

This message publish the goal pose of pelvis.

Services

robotis/online_walking/get_joint_pose (op3_online_walking_module_msgst/GetJointPose)

Get current goal joint pose

robotis/online_walking/get_kinematics_pose (op3_online_walking_module_msgs/GetKinematicsPose)

Get current goal end effector's pose of certain kinematics group

Wiki: op3_online_walking_module (last edited 2018-04-12 06:08:14 by s-changhyun)