https://github.com/robotis-git/robotis-thormang-common
ROS packages for the model description and the gazebo setting of THORMANG3
https://github.com/robotis-git/robotis-thormang-common
dynamixel gazebo humanoid moveit package robot robotis ros thormang3
Last synced: 5 months ago
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ROS packages for the model description and the gazebo setting of THORMANG3
- Host: GitHub
- URL: https://github.com/robotis-git/robotis-thormang-common
- Owner: ROBOTIS-GIT
- License: other
- Created: 2016-03-04T12:03:01.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2018-04-01T23:22:56.000Z (over 7 years ago)
- Last Synced: 2025-05-08T20:14:05.006Z (5 months ago)
- Topics: dynamixel, gazebo, humanoid, moveit, package, robot, robotis, ros, thormang3
- Language: CMake
- Homepage: http://emanual.robotis.com/docs/en/platform/thormang3/introduction/
- Size: 1.54 MB
- Stars: 4
- Watchers: 12
- Forks: 10
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROBOTIS THORMANG3
## ROS Packages for ROBOTIS THORMANG3 COMMON
|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
|:---:|:---:|:---:|
|[](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-THORMANG-Common)|[](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-THORMANG-Common)|-|
## ROBOTIS e-Manual for ROBOTIS THORMANG3
- [ROBOTIS e-Manual for ROBOTIS THORMANG3](http://emanual.robotis.com/docs/en/platform/thormang3/introduction/)
## Wiki for thormang3_common Packages
- http://wiki.ros.org/thormang3_common (metapackage)
- http://wiki.ros.org/thormang3_description
- http://wiki.ros.org/thormang3_gazebo
## Open Source related to ROBOTIS THORMANG3
- [thormang3_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-msgs)
- [thormang3_common](https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-Common)
- [thormang3_mpc](https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC)
- [thormang3_mpc_sensors](https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC-SENSORs)
- [thormang3_ppc](https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-PPC)
- [thormang3_opc](https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-OPC)
- [thormang3_tools](https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-Tools)
- [robotis_controller_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs)
- [robotis_framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework)
- [robotis_utility](https://github.com/ROBOTIS-GIT/ROBOTIS-Utility)
- [robotis_math](https://github.com/ROBOTIS-GIT/ROBOTIS-Math)
- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
## Documents and Videos related to ROBOTIS THORMANG3
- [ROBOTIS e-Manual for ROBOTIS THORMANG3](http://emanual.robotis.com/docs/en/platform/thormang3/introduction/)
- [ROBOTIS e-Manual for ROBOTIS Manipulator-H](http://emanual.robotis.com/docs/en/platform/manipulator_h/introduction/)
- [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/)
- [ROBOTIS e-Manual for ROBOTIS Framework](http://emanual.robotis.com/docs/en/software/robotis_framework_packages/)
- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
## What is THORMANG3?
THOR (Tactical Hazardous Operations Robot) is an affordable, full size humanoid robot platform with advanced
computational power, sophisticated sensors, high payload capacity, and dynamic motion abilities to enable many exciting researches and educational activities.
### Hardware
|Feature|Description|
|:---:|:---:|
|DOF|29|
|Actuator|200W x 10 / 100W x 11 / 20W x 8|
|Computer|Intel® NUC with Intel® Core™ i5 Processor
(DDR4 RAM 8GB / M.2 SSD 128GB) x2|
|Wireless router|Dlink DIR-806A x 1|
|Sensor|Logitech C920 HD Camera x 1
Intel Realsense(Option) x 1
Hokuyo UTM-30LX-EW(Option) x 1
F/T: ATi Mini58-SI-2800-120 x 2
IMU: MicroSrain 3DM-GX4-25 x 1|
|Battery|22V, 22000mA x 1
18.5V, 11000mA x 1|
|Height|137.5cm|
|Weight|42Kg|
### Software
The followings are source code development environments.
- OS : Linux (Ubuntu LTS 64-bit) with ROS (Robot Operating System)
- Compiler : GNU project C and C++ Compiler
- Programming Language : C++