robotis-git/robotis-thormang-mpc-sensors

ROS packages for the sensors of THORMANG3, MPC means Motion PC.

ROBOTIS THORMANG3

ROS Packages for ROBOTIS THORMANG3 MPC SENSORs

Version	Kinetic + Ubuntu Xenial	Melodic + Ubuntu Bionic
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ROBOTIS e-Manual for ROBOTIS THORMANG3

• ROBOTIS e-Manual for ROBOTIS THORMANG3

Wiki for thormang3_mpc_sensors Packages

• http://wiki.ros.org/thormang3_mpc_sensors (metapackage)
• http://wiki.ros.org/thormang3_imu_3dm_gx4

Open Source related to ROBOTIS THORMANG3

• thormang3_msgs
• thormang3_common
• thormang3_mpc
• thormang3_mpc_sensors
• thormang3_ppc
• thormang3_opc
• thormang3_tools
• robotis_controller_msgs
• robotis_framework
• robotis_utility
• robotis_math
• dynamixel_sdk

Documents and Videos related to ROBOTIS THORMANG3

• ROBOTIS e-Manual for ROBOTIS THORMANG3
• ROBOTIS e-Manual for ROBOTIS Manipulator-H
• ROBOTIS e-Manual for ROBOTIS OP3
• ROBOTIS e-Manual for ROBOTIS Framework
• ROBOTIS e-Manual for Dynamixel SDK

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++