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Only released in EOL distros:   kinetic

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS-THORMANG3

ROS API

thormang3_foot_step_generator_node

Subscribed Topics

robotis/status (robotis_controller_msgs/Status)

• The message in this topic is used for status message of THORMANG3.

robotis/thormang3_foot_step_generator/walking_command (thormang3_foot_step_generator/FootStepCommand)

• The message in this topic includes walking type and step length.

robotis/thormang3_foot_step_generator/footsteps_2d (invalid message type for MsgLink(msg/type))

• The message in this topic contains x, y, theta and moving_foot_flag.

Services Called

robotis/walking/get_reference_step_data (thormang3_walking_module_msgs/GetReferenceStepData)

• This service is used to obtain current location of THORMANG3 in the Global space from the Walking Module.

robotis/walking/add_step_data (thormang3_walking_module_msgs/AddStepDataArray)

• This service is used to add StepData created by the User.

robotis/walking/set_balance_param (thormang3_walking_module_msgs/SetBalanceParam)

• This service is used to initiate walking.

robotis/walking/is_running (thormang3_walking_module_msgs/IsRunning)

• This service is used to check whether the robot is walking or not.

ROS Message Types

FootStepCommand.msg

• This message is used when creating stepdata.

Step2D.msg

• This message is used when creating Step2DArray.msg.

Step2DArray.msg

• This message is StepData defined by the User.