Walking Speed increased in OP3 Soccer Demo

[lachg258]

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]

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.