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.