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ROBOTIS-GIT / ROBOTIS-OP3

ROS packages for the ROBOTIS OP3
http://emanual.robotis.com/docs/en/platform/op3/introduction/
Apache License 2.0
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Walking Speed increased in OP3 Soccer Demo #106

Open lachg258 opened 3 years ago

lachg258 commented 3 years ago

Hi guys,

I have noticed that when the ROBOTIS OP3 is in the "Autonomous Soccer Mode", when walking he seems to walk at a faster rate when a particular range from the ball, then proceeds to slow down when it is in close proximity to the ball. I have had a search but can not seem to find where in the code this process is created? Could you please highlight what section this is in as I would like to edit the speed the OP3 walks when it is heading towards the tracked soccer ball.

Thank you!

ROBOTIS-Will commented 3 years ago

Hi, The walking motion is controlled by the op3_walking_module package. In order to modify the walking behavior, you can tune parameters. Please refer to below emanual for detailed instructions. https://emanual.robotis.com/docs/en/platform/op3/robotis_ros_packages/#op3_walking_module

The source code of following the ball can be found from op3_demo/src/soccer/ball_follower.cpp in the ROBOTIS-OP3-DEMO package. Thank you.