https://github.com/robotis-git/robotis-thormang-ppc
ROS packages for the perception of THORMANG3, PPC means Perception PC.
https://github.com/robotis-git/robotis-thormang-ppc
dynamixel humanoid package robot robotis ros thormang3
Last synced: 7 months ago
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ROS packages for the perception of THORMANG3, PPC means Perception PC.
- Host: GitHub
- URL: https://github.com/robotis-git/robotis-thormang-ppc
- Owner: ROBOTIS-GIT
- License: apache-2.0
- Created: 2016-03-04T12:03:57.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2019-01-30T08:08:07.000Z (over 6 years ago)
- Last Synced: 2025-01-14T12:13:52.311Z (9 months ago)
- Topics: dynamixel, humanoid, package, robot, robotis, ros, thormang3
- Language: C++
- Homepage: http://emanual.robotis.com/docs/en/platform/thormang3/introduction/
- Size: 92.8 KB
- Stars: 2
- Watchers: 16
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROBOTIS THORMANG3
## ROS Packages for ROBOTIS THORMANG3 PPC
|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
|:---:|:---:|:---:|
|[](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-THORMANG-PPC)|[](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-THORMANG-PPC)|-|
## ROBOTIS e-Manual for ROBOTIS THORMANG3
- [ROBOTIS e-Manual for ROBOTIS THORMANG3](http://emanual.robotis.com/docs/en/platform/thormang3/introduction/)
## Wiki for thormang3_ppc Packages
- http://wiki.ros.org/thormang3_ppc (metapackage)
- http://wiki.ros.org/thormang3_sensors
- http://wiki.ros.org/thormang3_manipulation_demo
- http://wiki.ros.org/thormang3_walking_demo
## 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++