# 4.5.3.3. ROS API

**Published Topics**

* **/robotis/tuning\_module/tuning\_pose** ([std\_msgs/String](http://emanual.robotis.com/docs/en/popup/std_msgs_string/))
  * 此消息用於更改調整增益的姿態
* **/robotis/tuning\_module/joint\_offset\_data** ([op3\_tuning\_module\_msgs/JointOffsetData](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)JointOffsetData.msg/))
  * 此消息用於更改 offset 偏移量
* **/robotis/tuning\_module/joint\_gain\_data** ([op3\_tuning\_module\_msgs/JointOffsetData](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)JointOffsetData.msg/))
  * 此消息用於更改 gain 增益
* **/robotis/tuning\_module/torque\_enable** ([op3\_tuning\_module\_msgs/JointTorqueOnOffArray](http://emanual.robotis.com/docs/en/popup/\(op3_tuning_module_msgs\)JointTorqueOnOffArray.msg/))
  * 此消息用於啟用/停用關節扭力
* **/robotis/tuning\_module/command** ([std\_msgs/String](http://emanual.robotis.com/docs/en/popup/std_msgs_string/))
  * 指令消息（例如 save gain，save offset）

**Services**

* **/robotis/tuning\_module/get\_present\_joint\_offset\_data** (op3\_tuning\_module\_msgs/GetPresentJointOffsetData)
  * 此服務用於獲取包括偏移值的關節狀態

