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          thormang3_tools: thormang3_action_editor | thormang3_offset_tuner_server

          Package Summary

          The offset_tuner_server package

          ROS Software Maintainer: ROBOTIS

          ROBOTIS e-Manual

          ROS API

          thormang3_offset_tuner_server_node

          Subscribed Topics

          robotis/base/send_tra (std_msgs/String)
          • The message in this topic is used to inform the start and end of trajectory following.
          robotis/offset_tuner/joint_offset_data (thormang3_offset_tuner_msgs/JointOffsetData)
          • The message in this topic is used to transfer Joint offset.
          robotis/offset_tuner/torque_enable (thormang3_offset_tuner_msgs/JointTorqueOnOffArray)
          • The message in this topic is used to transfer Torque enable/disable command for joints.
          robotis/offset_tuner/command (std_msgs/String)
          • The message in this topic is used to transfer other commands(save, initial posture, etc).

          Services Called

          robotis/offset_tuner/get_present_joint_offset_data (thormang3_offset_tuner_msgs/GetPresentJointOffsetData)
          • The service is used to obtains current offset data from the thormang3_offset_tuner_client.

          Parameters

          offset_file_path (string, default: "")
          • This path indicates the file path that includes joint offset information and initial pose of tuning offset.
          robot_file_path (string, default: "")
          • This path indicates the file .robot 's path that includes robot information.
          init_file_path (string, default: "")
          • This path indicates the location of the file that contains initialization information of each joint.

          Wiki: thormang3_offset_tuner_server (2018-04-30 01:26:08由Jaehyun Shim編輯)

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