# 4.2.2.1. op3\_offset\_tuner\_msgs

**Overview**

以下是用於 [**op3\_offset\_tuner\_server**](http://emanual.robotis.com/docs/en/platform/op3/robotis_ros_packages/#op3_offset_tuner_server) 和 [**op3\_offset\_tuner\_client**](http://emanual.robotis.com/docs/en/platform/op3/robotis_ros_packages/#op3_offset_tuner_client) 的消息和服務。

**ROS Message Type**

* [JointOffsetData.msg](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)JointOffsetData.msg/)
* [JointOffsetPositionData.msg](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)JointOffsetPositionData.msg/)
* [JointTorqueOnOff.msg](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)JointTorqueOnOff.msg/)
* [JointTorqueOnOffArray.msg](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)JointTorqueOnOffArray.msg/)

**ROS Service Type**

* [GetPresentJointOffsetData.srv](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)GetPresentJointOffsetData.srv/)
