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https://github.com/robotis-git/robotis-thormang-opc

ROS packages for the operating of THORMANG3, OPC means Operating PC.
https://github.com/robotis-git/robotis-thormang-opc

dynamixel humanoid package robot robotis ros thormang3

Last synced: about 2 months ago
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ROS packages for the operating of THORMANG3, OPC means Operating PC.

Host: GitHub
URL: https://github.com/robotis-git/robotis-thormang-opc
Owner: ROBOTIS-GIT
License: apache-2.0
Created: 2016-03-04T12:04:21.000Z (almost 9 years ago)
Default Branch: master
Last Pushed: 2019-09-06T08:21:23.000Z (over 5 years ago)
Last Synced: 2024-03-26T21:16:16.569Z (9 months ago)
Topics: dynamixel, humanoid, package, robot, robotis, ros, thormang3
Language: C++
Homepage: http://emanual.robotis.com/docs/en/platform/thormang3/introduction/
Size: 434 KB
Stars: 1
Watchers: 13
Forks: 2
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # ROBOTIS THORMANG3

![](https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/thormang3/thormang3.png)

## ROS Packages for ROBOTIS THORMANG3 OPC

|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|

|:---:|:---:|:---:|

|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-THORMANG-OPC.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-THORMANG-OPC)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-THORMANG-OPC.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-THORMANG-OPC)|-|

## ROBOTIS e-Manual for ROBOTIS THORMANG3

- [ROBOTIS e-Manual for ROBOTIS THORMANG3](http://emanual.robotis.com/docs/en/platform/thormang3/introduction/)

## Wiki for thormang3_opc Packages

- http://wiki.ros.org/thormang3_opc (metapackage)

- http://wiki.ros.org/thormang3_action_script_player

- http://wiki.ros.org/thormang3_demo

- http://wiki.ros.org/thormang3_foot_step_generator

- http://wiki.ros.org/thormang3_navigation

- http://wiki.ros.org/thormang3_offset_tuner_client

 

## 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 RH-P12-RN](http://emanual.robotis.com/docs/en/platform/rh_p12_rn/)

- [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++