Edit on GitHub

OP3 Robot Operating System


This chapter explains installation and configuration of Robot Operating System(ROS) for ROBOTIS-OP3. Also, common ROS Packages and developed ROS Packages will be introduced.

What is ROS?

How to install ROS


ROS Environment Setting

Reference : http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

ROS Network Setup

Reference : ROS Network Setup

Example Setting

  1. Open the bash file with an editor to apply configuration.
    $ xed ~/.bashrc
  2. Append below contents at the end of the .bashrc file.
     Set ROS Kinetic
    source /opt/ros/kinetic/setup.bash
    source ~/catkin_ws/devel/setup.bash
    #### Set ROS Network ####
     ROS Master(localhost)
    export ROS_MASTER_URI=
     local ROS IP
    export ROS_IP=

    Reference : In order to operate ROS in a network with multiple PCs, addresses of the ROS_MASTER_URI and the ROS_IP have to be replaced with the core PC’s IP address and the remote PC’s IP address respectively.

    Reference : If Hotspot is configured, use “”. Otherwise, use “localhost” instead of IP address.

    • ROS_MASTER_URI=http://localhost:11311
    • ROS_IP=localhost
  3. Use below command to apply modified configuration or open a new terminal window to reload configuration.
    $ source ~/.bashrc


  1. DynamixelSDK : SDK for Dynamixel
  2. ROBOTIS-Framerowk : The packages to use ROS (Robot Operating System) for robots assembled with ROBOTIS products.
  3. ROBOTIS-Framerowk-msgs : Messages used in the ROBOTIS-Framework.
  4. ROBOTIS-Math : Basic calculation related to transformation and trajectory functions.
  5. ROBOTIS-OP3 : ROS Packages running in the ROBOTIS-OP3.
  6. ROBOTIS-OP3-Common
  7. ROBOTIS-OP3-Demo
  8. ROBOTIS-OP3-msgs
  9. ROBOTIS-OP3-Tools
  10. ROBOTIS-Utility

Additional ROS Package

  1. face_detection
  2. robot_upstart
  3. usb_cam
    • USB Camera
    • Link : http://wiki.ros.org/usb_cam
    • Additional Installation : The following package must be manually installed in order to modify camera parameters.
      $ sudo apt install v4l-utils